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.136-add-android-support
Kyle Johannes
Kyle Schwarz
parent
018f1fac8e
commit
8d704b1bbb
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@ -234,6 +234,7 @@ set(SRC_FILES
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communication/message/neomessage.cpp
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communication/message/ethphymessage.cpp
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communication/message/linmessage.cpp
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communication/message/livedatamessage.cpp
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communication/packet/flexraypacket.cpp
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communication/packet/canpacket.cpp
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communication/packet/a2bpacket.cpp
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@ -241,6 +242,7 @@ set(SRC_FILES
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communication/packet/versionpacket.cpp
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communication/packet/iso9141packet.cpp
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communication/packet/ethphyregpacket.cpp
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communication/packet/livedatapacket.cpp
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communication/packet/logicaldiskinfopacket.cpp
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communication/packet/wivicommandpacket.cpp
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communication/packet/i2cpacket.cpp
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@ -257,6 +259,7 @@ set(SRC_FILES
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communication/multichannelcommunication.cpp
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communication/communication.cpp
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communication/driver.cpp
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communication/livedata.cpp
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device/extensions/flexray/extension.cpp
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device/extensions/flexray/controller.cpp
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device/idevicesettings.cpp
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@ -468,6 +471,7 @@ if(LIBICSNEO_BUILD_TESTS)
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test/linencoderdecodertest.cpp
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test/a2bencoderdecodertest.cpp
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test/mdioencoderdecodertest.cpp
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test/livedataencoderdecodertest.cpp
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)
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target_link_libraries(libicsneo-tests gtest gtest_main)
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@ -14,6 +14,7 @@
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#include "icsneo/communication/message/linmessage.h"
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#include "icsneo/communication/message/mdiomessage.h"
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#include "icsneo/communication/message/extendeddatamessage.h"
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#include "icsneo/communication/message/livedatamessage.h"
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#include "icsneo/communication/command.h"
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#include "icsneo/device/device.h"
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#include "icsneo/communication/packet/canpacket.h"
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@ -32,6 +33,7 @@
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#include "icsneo/communication/packet/supportedfeaturespacket.h"
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#include "icsneo/communication/packet/mdiopacket.h"
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#include "icsneo/communication/packet/genericbinarystatuspacket.h"
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#include "icsneo/communication/packet/livedatapacket.h"
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#include <iostream>
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using namespace icsneo;
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@ -279,6 +281,9 @@ bool Decoder::decode(std::shared_ptr<Message>& result, const std::shared_ptr<Pac
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case ExtendedCommand::GenericReturn:
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result = std::make_shared<ExtendedResponseMessage>(resp.command, resp.returnCode);
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return true;
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case ExtendedCommand::LiveData:
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result = HardwareLiveDataPacket::DecodeToMessage(packet->data, report);
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return true;
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default:
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// No defined handler, treat this as a RawMessage
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break;
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@ -1,6 +1,8 @@
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#include "icsneo/communication/encoder.h"
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#include "icsneo/communication/message/ethernetmessage.h"
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#include "icsneo/communication/message/livedatamessage.h"
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#include "icsneo/communication/message/main51message.h"
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#include "icsneo/communication/packet/livedatapacket.h"
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#include "icsneo/communication/packet/ethernetpacket.h"
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#include "icsneo/communication/packet/iso9141packet.h"
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#include "icsneo/communication/packet/canpacket.h"
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@ -197,6 +199,17 @@ bool Encoder::encode(const Packetizer& packetizer, std::vector<uint8_t>& result,
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return false;
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break;
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}
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case Message::Type::LiveData: {
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auto liveDataMsg = std::dynamic_pointer_cast<LiveDataMessage>(message);
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if(!liveDataMsg) {
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report(APIEvent::Type::MessageFormattingError, APIEvent::Severity::Error);
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return false; // The message was not a properly formed LiveDataMessage
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}
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if(!HardwareLiveDataPacket::EncodeFromMessage(*liveDataMsg, result, report))
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return false;
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result = packetizer.packetWrap(result, false);
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return true;
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}
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break;
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}
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@ -0,0 +1,22 @@
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#include "icsneo/communication/livedata.h"
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namespace icsneo {
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namespace LiveDataUtil {
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LiveDataHandle getNewHandle() {
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static LiveDataHandle currentHandle = 0;
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++currentHandle;
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if(currentHandle == std::numeric_limits<LiveDataHandle>::max()) {
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EventManager::GetInstance().add(APIEvent::Type::LiveDataInvalidHandle, APIEvent::Severity::Error);
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currentHandle = 1;
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}
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return currentHandle;
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}
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double liveDataValueToDouble(const LiveDataValue& val) {
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constexpr double liveDataFixedPointToDouble = 0.00000000023283064365386962890625;
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return val.value * liveDataFixedPointToDouble;
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}
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} // namespace LiveDataUtil
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} // namespace icsneo
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@ -0,0 +1,15 @@
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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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{
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void LiveDataCommandMessage::appendSignalArg(LiveDataValueType valueType) {
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auto& arg = args.emplace_back(std::make_shared<LiveDataArgument>());
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arg->objectType = LiveDataObjectType::MISC;
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arg->objectIndex = 0u;
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arg->signalIndex = 0u;
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arg->valueType = valueType;
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}
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} // namespace icsneo
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@ -0,0 +1,129 @@
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#include "icsneo/communication/packet/livedatapacket.h"
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#include "icsneo/communication/message/livedatamessage.h"
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#include <cstring>
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#include <vector>
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namespace icsneo {
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std::shared_ptr<Message> HardwareLiveDataPacket::DecodeToMessage(const std::vector<uint8_t>& bytes, const device_eventhandler_t& report) {
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if(bytes.empty() || (bytes.size() < (sizeof(LiveDataHeader) + sizeof(ExtResponseHeader)))) {
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report(APIEvent::Type::RequiredParameterNull, APIEvent::Severity::Error);
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return nullptr;
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}
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const auto header = reinterpret_cast<const ExtResponseHeader*>(bytes.data());
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if(ExtendedCommand::LiveData != static_cast<ExtendedCommand>(header->command)) {
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report(APIEvent::Type::LiveDataInvalidCommand, APIEvent::Severity::Error);
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return nullptr;
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}
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const auto ldHeader = reinterpret_cast<const LiveDataHeader*>(bytes.data() + sizeof(ExtResponseHeader));
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// Versioning check to avoid bad data interpretation between disparate libicsneo and firmware versions
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if(icsneo::LiveDataUtil::LiveDataVersion != ldHeader->version) {
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report(APIEvent::Type::LiveDataVersionMismatch, APIEvent::Severity::Error);
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return nullptr;
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}
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switch(LiveDataCommand(ldHeader->cmd)) {
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case LiveDataCommand::RESPONSE: {
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auto retMsg = std::make_shared<LiveDataValueMessage>();
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const auto responseBytes = reinterpret_cast<const LiveDataValueResponse*>(ldHeader);
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retMsg->handle = responseBytes->handle;
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retMsg->cmd = static_cast<LiveDataCommand>(responseBytes->cmd);
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retMsg->numArgs = responseBytes->numArgs;
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for(uint32_t i = 0; i < retMsg->numArgs; ++i) {
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retMsg->values.emplace_back(std::make_shared<LiveDataValue>(responseBytes->values[i]));
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}
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return retMsg;
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}
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case LiveDataCommand::STATUS: {
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auto retMsg = std::make_shared<LiveDataStatusMessage>();
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const auto responseBytes = reinterpret_cast<const LiveDataStatusResponse*>(ldHeader);
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retMsg->handle = responseBytes->handle;
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retMsg->cmd = static_cast<LiveDataCommand>(responseBytes->cmd);
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retMsg->status = responseBytes->status;
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retMsg->requestedCommand = static_cast<LiveDataCommand>(responseBytes->requestedCommand);
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return retMsg;
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}
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default: {
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report(APIEvent::Type::LiveDataInvalidCommand, APIEvent::Severity::Error);
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break;
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}
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}
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return nullptr;
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}
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bool HardwareLiveDataPacket::EncodeFromMessage(LiveDataMessage& message, std::vector<uint8_t>& bytestream, const device_eventhandler_t& report) {
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uint16_t payloadSize = 0;
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switch(message.cmd) {
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case LiveDataCommand::SUBSCRIBE: {
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auto commandMsg = reinterpret_cast<LiveDataCommandMessage*>(&message);
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const auto numArgs = commandMsg->args.size();
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if(numArgs) {
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payloadSize = static_cast<uint16_t>(sizeof(LiveDataSubscribe) + (sizeof(LiveDataArgument) * (numArgs-1)));
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bytestream.resize((payloadSize + sizeof(ExtendedCommandHeader)),0);
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LiveDataSubscribe* out = reinterpret_cast<LiveDataSubscribe*>(bytestream.data() + sizeof(ExtendedCommandHeader));
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out->version = icsneo::LiveDataUtil::LiveDataVersion;
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out->cmd = static_cast<uint32_t>(commandMsg->cmd);
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if(!commandMsg->handle)
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commandMsg->handle = LiveDataUtil::getNewHandle();
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out->handle = commandMsg->handle;
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out->numArgs = static_cast<uint32_t>(commandMsg->args.size());
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out->freqMs = static_cast<uint32_t>(commandMsg->updatePeriod.count());
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out->expireMs = static_cast<uint32_t>(commandMsg->expirationTime.count());
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for(size_t i = 0; i < numArgs; ++i) {
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out->args[i].objectType = commandMsg->args[i]->objectType;
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out->args[i].objectIndex = commandMsg->args[i]->objectIndex;
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out->args[i].signalIndex = commandMsg->args[i]->signalIndex;
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out->args[i].valueType = commandMsg->args[i]->valueType;
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}
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} else {
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report(APIEvent::Type::LiveDataInvalidArgument, APIEvent::Severity::Error);
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return false;
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}
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break;
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}
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case LiveDataCommand::UNSUBSCRIBE: {
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payloadSize = sizeof(LiveDataHeader);
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bytestream.resize((payloadSize + sizeof(ExtendedCommandHeader)),0);
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auto ldUnsubMsg = reinterpret_cast<LiveDataHeader*>(bytestream.data() + sizeof(ExtendedCommandHeader));
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ldUnsubMsg->version = static_cast<uint32_t>(icsneo::LiveDataUtil::LiveDataVersion);
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ldUnsubMsg->cmd = static_cast<uint32_t>(message.cmd);
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ldUnsubMsg->handle = static_cast<uint32_t>(message.handle);
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break;
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}
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case LiveDataCommand::CLEAR_ALL: {
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payloadSize = sizeof(LiveDataHeader);
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bytestream.resize((payloadSize + sizeof(ExtendedCommandHeader)),0);
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auto clearMsg = reinterpret_cast<LiveDataHeader*>(bytestream.data() + sizeof(ExtendedCommandHeader));
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clearMsg->version = static_cast<uint32_t>(icsneo::LiveDataUtil::LiveDataVersion);
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clearMsg->cmd = static_cast<uint32_t>(message.cmd);
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break;
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}
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default: {
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report(APIEvent::Type::LiveDataInvalidCommand, APIEvent::Severity::Error);
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return false;
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}
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}
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// Send as a long message without setting the NetID to RED first
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// Size in long format is the size of the entire packet
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// So +1 for AA header, +1 for short format header (only netID)
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// +2 for long format size, +1 for the Main51 extended command
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// +2 for the extended subcommand, +2 for the payload length
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uint16_t fullSize = static_cast<uint16_t>(1 + sizeof(ExtendedCommandHeader) + payloadSize);
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ExtendedCommandHeader* header = reinterpret_cast<ExtendedCommandHeader*>(bytestream.data());
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if(!header) {
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report(APIEvent::Type::LiveDataEncoderError, APIEvent::Severity::Error);
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return false;
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}
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header->netid = static_cast<uint8_t>(Network::NetID::Main51);
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header->fullLength = fullSize;
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header->command = static_cast<uint8_t>(Command::Extended);
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header->extendedCommand = static_cast<uint16_t>(ExtendedCommand::LiveData);
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header->payloadLength = payloadSize;
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return true;
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}
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} // namespace icsneo
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@ -301,6 +301,9 @@ bool Device::open(OpenFlags flags, OpenStatusHandler handler) {
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com->removeMessageCallback(messageReceivedCallbackID);
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});
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if(supportsLiveData())
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clearAllLiveData();
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return true;
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}
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@ -1873,3 +1876,143 @@ bool Device::readBinaryFile(std::ostream& stream, uint16_t binaryIndex) {
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}
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return true;
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}
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bool Device::subscribeLiveData(std::shared_ptr<LiveDataCommandMessage> message) {
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if(!supportsLiveData()) {
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report(APIEvent::Type::LiveDataNotSupported, APIEvent::Severity::Error);
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return false;
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}
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if(!isOpen()) {
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report(APIEvent::Type::DeviceCurrentlyClosed, APIEvent::Severity::Error);
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return false;
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}
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if((message->args.size() > MAX_LIVE_DATA_ENTRIES) || message->args.empty()) {
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report(APIEvent::Type::LiveDataInvalidArgument, APIEvent::Severity::Error);
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return false;
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}
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std::vector<uint8_t> bytes;
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if(!com->encoder->encode(*com->packetizer, bytes, message)) {
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report(APIEvent::Type::LiveDataEncoderError, APIEvent::Severity::Error);
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return false;
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}
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std::shared_ptr<Message> response = com->waitForMessageSync(
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[this, &bytes](){ return com->sendPacket(bytes); },
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std::make_shared<MessageFilter>(Message::Type::LiveData));
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if(response) {
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auto statusMsg = std::dynamic_pointer_cast<LiveDataStatusMessage>(response);
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if(statusMsg->requestedCommand == message->cmd) {
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switch(statusMsg->status) {
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case LiveDataStatus::SUCCESS:
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return true;
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case LiveDataStatus::ERR_DUPLICATE:
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case LiveDataStatus::ERR_HANDLE:
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{
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report(APIEvent::Type::LiveDataInvalidHandle, APIEvent::Severity::Error);
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return false;
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}
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case LiveDataStatus::ERR_FULL:
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{
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report(APIEvent::Type::LiveDataMaxSignalsReached, APIEvent::Severity::Error);
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return false;
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}
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case LiveDataStatus::ERR_UNKNOWN_COMMAND:
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{
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report(APIEvent::Type::LiveDataCommandFailed, APIEvent::Severity::Error);
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return false;
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}
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default:
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break;
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}
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}
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}
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report(APIEvent::Type::LiveDataNoDeviceResponse, APIEvent::Severity::Error);
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return false;
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}
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bool Device::unsubscribeLiveData(const LiveDataHandle& handle) {
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if(!supportsLiveData()) {
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report(APIEvent::Type::LiveDataNotSupported, APIEvent::Severity::Error);
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return false;
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}
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if(!isOpen()) {
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report(APIEvent::Type::DeviceCurrentlyClosed, APIEvent::Severity::Error);
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return false;
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}
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if(!handle) {
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report(APIEvent::Type::RequiredParameterNull, APIEvent::Severity::Error);
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return false;
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}
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auto msg = std::make_shared<LiveDataMessage>();
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msg->cmd = LiveDataCommand::UNSUBSCRIBE;
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msg->handle = handle;
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std::vector<uint8_t> bytes;
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if(!com->encoder->encode(*com->packetizer, bytes, msg)) {
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report(APIEvent::Type::LiveDataEncoderError, APIEvent::Severity::Error);
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return false;
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}
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std::shared_ptr<Message> response = com->waitForMessageSync(
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[this, &bytes](){ return com->sendPacket(bytes); },
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std::make_shared<MessageFilter>(Message::Type::LiveData));
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if(!response) {
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report(APIEvent::Type::LiveDataNoDeviceResponse, APIEvent::Severity::Error);
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return false;
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}
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auto statusMsg = std::dynamic_pointer_cast<LiveDataStatusMessage>(response);
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if(!statusMsg || statusMsg->requestedCommand != msg->cmd) {
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report(APIEvent::Type::MessageFormattingError, APIEvent::Severity::Error);
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return false;
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}
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if(statusMsg->status != LiveDataStatus::SUCCESS) {
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report(APIEvent::Type::LiveDataCommandFailed, APIEvent::Severity::Error);
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return false;
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}
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return true;
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}
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bool Device::clearAllLiveData() {
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if(!supportsLiveData()) {
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report(APIEvent::Type::LiveDataNotSupported, APIEvent::Severity::Error);
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return false;
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}
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if(!isOpen()) {
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report(APIEvent::Type::DeviceCurrentlyClosed, APIEvent::Severity::Error);
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return false;
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}
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auto msg = std::make_shared<LiveDataMessage>();
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msg->cmd = LiveDataCommand::CLEAR_ALL;
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std::vector<uint8_t> bytes;
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if(!com->encoder->encode(*com->packetizer, bytes, msg)) {
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report(APIEvent::Type::LiveDataEncoderError, APIEvent::Severity::Error);
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return false;
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}
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std::shared_ptr<Message> response = com->waitForMessageSync(
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[this, &bytes](){ return com->sendPacket(bytes); },
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std::make_shared<MessageFilter>(Message::Type::LiveData));
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if(!response) {
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report(APIEvent::Type::LiveDataNoDeviceResponse, APIEvent::Severity::Error);
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return false;
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}
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auto statusMsg = std::dynamic_pointer_cast<LiveDataStatusMessage>(response);
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if(!statusMsg || statusMsg->requestedCommand != msg->cmd) {
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report(APIEvent::Type::MessageFormattingError, APIEvent::Severity::Error);
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return false;
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}
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if(statusMsg->status != LiveDataStatus::SUCCESS) {
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report(APIEvent::Type::LiveDataCommandFailed, APIEvent::Severity::Error);
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return false;
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}
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return true;
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}
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@ -5,6 +5,7 @@ option(LIBICSNEO_BUILD_CPP_SIMPLE_EXAMPLE "Build the simple C++ example." ON)
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option(LIBICSNEO_BUILD_CPP_INTERACTIVE_EXAMPLE "Build the command-line interactive C++ example." ON)
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option(LIBICSNEO_BUILD_CPP_A2B_EXAMPLE "Build the A2B example." ON)
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option(LIBICSNEO_BUILD_CPP_LIN_EXAMPLE "Build the LIN example." ON)
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option(LIBICSNEO_BUILD_CPP_LIVEDATA_EXAMPLE "Build the Live Data example." ON)
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option(LIBICSNEO_BUILD_CPP_COREMINI_EXAMPLE "Build the Coremini example." ON)
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option(LIBICSNEO_BUILD_CPP_MDIO_EXAMPLE "Build the MDIO example." ON)
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|
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@ -40,6 +41,10 @@ if(LIBICSNEO_BUILD_CPP_LIN_EXAMPLE)
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add_subdirectory(cpp/lin)
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endif()
|
||||
|
||||
if(LIBICSNEO_BUILD_CPP_LIVEDATA_EXAMPLE)
|
||||
add_subdirectory(cpp/livedata)
|
||||
endif()
|
||||
|
||||
if(LIBICSNEO_BUILD_CPP_COREMINI_EXAMPLE)
|
||||
add_subdirectory(cpp/coremini)
|
||||
endif()
|
||||
|
|
|
|||
|
|
@ -0,0 +1,27 @@
|
|||
cmake_minimum_required(VERSION 3.2)
|
||||
project(libicsneocpp-livedata VERSION 0.1.0)
|
||||
|
||||
set(CMAKE_CXX_STANDARD_REQUIRED 11)
|
||||
|
||||
include(GNUInstallDirs)
|
||||
|
||||
# Add an include directory like so if desired
|
||||
#include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
|
||||
|
||||
# Enable Warnings
|
||||
if(MSVC)
|
||||
# Force to always compile with W4
|
||||
if(CMAKE_CXX_FLAGS MATCHES "/W[0-4]")
|
||||
string(REGEX REPLACE "/W[0-4]" "/W4" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
|
||||
else()
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /W4")
|
||||
endif()
|
||||
else() #if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_COMPILER_IS_GNUCXX)
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wno-switch -Wno-unknown-pragmas")
|
||||
endif()
|
||||
|
||||
# Add libicsneo, usually a git submodule within your project works well
|
||||
#add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../third-party/libicsneo ${CMAKE_CURRENT_BINARY_DIR}/third-party/libicsneo)
|
||||
|
||||
add_executable(libicsneocpp-livedata src/LiveDataExample.cpp)
|
||||
target_link_libraries(libicsneocpp-livedata icsneocpp)
|
||||
|
|
@ -0,0 +1,91 @@
|
|||
#include <iostream>
|
||||
#include <iomanip>
|
||||
#include <thread>
|
||||
#include <chrono>
|
||||
|
||||
#include "icsneo/icsneocpp.h"
|
||||
#include "icsneo/communication/message/livedatamessage.h"
|
||||
#include "icsneo/communication/livedata.h"
|
||||
|
||||
int main() {
|
||||
// Print version
|
||||
std::cout << "Running libicsneo " << icsneo::GetVersion() << std::endl;
|
||||
std::cout << "\nFinding devices... " << std::flush;
|
||||
auto devices = icsneo::FindAllDevices(); // This is type std::vector<std::shared_ptr<icsneo::Device>>
|
||||
std::cout << "OK, " << devices.size() << " device" << (devices.size() == 1 ? "" : "s") << " found" << std::endl;
|
||||
|
||||
// List off the devices
|
||||
for(auto& device : devices)
|
||||
std::cout << '\t' << device->describe() << " @ Handle " << device->getNeoDevice().handle << std::endl;
|
||||
std::cout << std::endl;
|
||||
|
||||
for(auto& device : devices) {
|
||||
std::cout << "Connecting to " << device->describe() << "... ";
|
||||
bool ret = device->open();
|
||||
if(!ret) { // Failed to open
|
||||
std::cout << "FAIL" << std::endl;
|
||||
std::cout << icsneo::GetLastError() << std::endl << std::endl;
|
||||
continue;
|
||||
}
|
||||
std::cout << "OK" << std::endl;
|
||||
|
||||
// Create a subscription message for the GPS signals
|
||||
std::cout << "\tSending a live data subscribe command... ";
|
||||
auto msg = std::make_shared<icsneo::LiveDataCommandMessage>();
|
||||
msg->appendSignalArg(icsneo::LiveDataValueType::GPS_LATITUDE);
|
||||
msg->appendSignalArg(icsneo::LiveDataValueType::GPS_LONGITUDE);
|
||||
msg->appendSignalArg(icsneo::LiveDataValueType::GPS_ACCURACY);
|
||||
msg->cmd = icsneo::LiveDataCommand::SUBSCRIBE;
|
||||
msg->handle = icsneo::LiveDataUtil::getNewHandle();
|
||||
msg->updatePeriod = std::chrono::milliseconds(100);
|
||||
msg->expirationTime = std::chrono::milliseconds(0);
|
||||
// Transmit the subscription message
|
||||
ret = device->subscribeLiveData(msg);
|
||||
std::cout << (ret ? "OK" : "FAIL") << std::endl;
|
||||
|
||||
// Register a handler that uses the data after it arrives every ~100ms
|
||||
std::cout << "\tStreaming messages for 3 seconds... " << std::endl << std::endl;
|
||||
auto filter = std::make_shared<icsneo::MessageFilter>(icsneo::Message::Type::LiveData);
|
||||
auto handler = device->addMessageCallback(std::make_shared<icsneo::MessageCallback>(filter, [&msg](std::shared_ptr<icsneo::Message> message) {
|
||||
auto ldMsg = std::dynamic_pointer_cast<icsneo::LiveDataMessage>(message);
|
||||
switch(ldMsg->cmd) {
|
||||
case icsneo::LiveDataCommand::STATUS: {
|
||||
auto msg2 = std::dynamic_pointer_cast<icsneo::LiveDataStatusMessage>(message);
|
||||
std::cout << "[Handle] " << ldMsg->handle << std::endl;
|
||||
std::cout << "[Requested Command] " << msg2->requestedCommand << std::endl;
|
||||
std::cout << "[Status] " << msg2->status << std::endl << std::endl;
|
||||
break;
|
||||
}
|
||||
case icsneo::LiveDataCommand::RESPONSE: {
|
||||
auto valueMsg = std::dynamic_pointer_cast<icsneo::LiveDataValueMessage>(message);
|
||||
if((valueMsg->handle == msg->handle) && (valueMsg->values.size() == msg->args.size()))
|
||||
{
|
||||
std::cout << "[Handle] " << msg->handle << std::endl;
|
||||
std::cout << "[Values] " << valueMsg->numArgs << std::endl;
|
||||
for(uint32_t i = 0; i < valueMsg->numArgs; ++i) {
|
||||
std::cout << "[" << msg->args[i]->valueType << "] ";
|
||||
auto scaledValue = icsneo::LiveDataUtil::liveDataValueToDouble(*valueMsg->values[i]);
|
||||
std::cout << scaledValue << std::endl;
|
||||
}
|
||||
std::cout << std::endl;
|
||||
}
|
||||
break;
|
||||
}
|
||||
default: // Ignoring other commands
|
||||
break;
|
||||
}
|
||||
}));
|
||||
// Run handler for three seconds to observe the signal data
|
||||
std::this_thread::sleep_for(std::chrono::seconds(3));
|
||||
// Unsubscribe from the GPS signals and run handler for one more second
|
||||
// Unsubscription only requires a valid in-use handle, in this case from our previous subscription
|
||||
ret = device->unsubscribeLiveData(msg->handle);
|
||||
// The handler should no longer print values
|
||||
std::this_thread::sleep_for(std::chrono::seconds(1));
|
||||
device->removeMessageCallback(handler);
|
||||
std::cout << "\tDisconnecting... ";
|
||||
ret = device->close();
|
||||
std::cout << (ret ? "OK\n" : "FAIL\n") << std::endl;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -94,6 +94,16 @@ public:
|
|||
CoreminiUploadVersionMismatch = 0x2040,
|
||||
DiskNotConnected = 0x2041,
|
||||
UnexpectedResponse = 0x2042,
|
||||
LiveDataInvalidHandle = 0x2043,
|
||||
LiveDataInvalidCommand = 0x2044,
|
||||
LiveDataInvalidArgument = 0x2045,
|
||||
LiveDataVersionMismatch = 0x2046,
|
||||
LiveDataNoDeviceResponse = 0x2047,
|
||||
LiveDataMaxSignalsReached = 0x2048,
|
||||
LiveDataCommandFailed = 0x2049,
|
||||
LiveDataEncoderError = 0x2050,
|
||||
LiveDataDecoderError = 0x2051,
|
||||
LiveDataNotSupported = 0x2052,
|
||||
|
||||
// Transport Events
|
||||
FailedToRead = 0x3000,
|
||||
|
|
|
|||
|
|
@ -35,7 +35,7 @@ enum class Command : uint8_t {
|
|||
ExtendedData = 0xF2, // Previously known as RED_CMD_EXTENDED_DATA
|
||||
FlexRayControl = 0xF3,
|
||||
CoreMiniPreload = 0xF4, // Previously known as RED_CMD_COREMINI_PRELOAD
|
||||
PHYControlRegisters = 0xEF
|
||||
PHYControlRegisters = 0xEF,
|
||||
};
|
||||
|
||||
enum class ExtendedCommand : uint16_t {
|
||||
|
|
@ -53,6 +53,7 @@ enum class ExtendedCommand : uint16_t {
|
|||
Reboot = 0x001C,
|
||||
SetUploadedFlag = 0x0027,
|
||||
GenericBinaryInfo = 0x0030,
|
||||
LiveData = 0x0035,
|
||||
};
|
||||
|
||||
enum class ExtendedResponse : int32_t {
|
||||
|
|
@ -68,6 +69,16 @@ enum class ExtendedDataSubCommand : uint32_t {
|
|||
GenericBinaryRead = 13,
|
||||
};
|
||||
|
||||
#pragma pack(push,1)
|
||||
struct ExtendedCommandHeader {
|
||||
uint8_t netid; // should be Main51
|
||||
uint16_t fullLength;
|
||||
uint8_t command; // should be Command::Extended
|
||||
uint16_t extendedCommand;
|
||||
uint16_t payloadLength;
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
}
|
||||
|
||||
#endif // __cplusplus
|
||||
|
|
|
|||
|
|
@ -0,0 +1,146 @@
|
|||
#ifndef __LIVEDATA_H__
|
||||
#define __LIVEDATA_H__
|
||||
#ifdef __cplusplus
|
||||
|
||||
#include <cstdint>
|
||||
#include <vector>
|
||||
#include <memory>
|
||||
#include "icsneo/communication/command.h"
|
||||
#include "icsneo/api/eventmanager.h"
|
||||
|
||||
namespace icsneo {
|
||||
|
||||
typedef uint32_t LiveDataHandle;
|
||||
static constexpr size_t MAX_LIVE_DATA_ENTRIES = 20;
|
||||
|
||||
enum class LiveDataCommand : uint32_t {
|
||||
STATUS = 0,
|
||||
SUBSCRIBE,
|
||||
UNSUBSCRIBE,
|
||||
RESPONSE,
|
||||
CLEAR_ALL,
|
||||
};
|
||||
|
||||
enum class LiveDataStatus : uint32_t {
|
||||
SUCCESS = 0,
|
||||
ERR_UNKNOWN_COMMAND,
|
||||
ERR_HANDLE,
|
||||
ERR_DUPLICATE,
|
||||
ERR_FULL
|
||||
};
|
||||
|
||||
enum LiveDataObjectType : uint16_t {
|
||||
MISC = 8,
|
||||
SNA = UINT16_MAX,
|
||||
};
|
||||
|
||||
enum class LiveDataValueType : uint32_t {
|
||||
GPS_LATITUDE = 2,
|
||||
GPS_LONGITUDE,
|
||||
GPS_ALTITUDE,
|
||||
GPS_SPEED,
|
||||
GPS_VALID,
|
||||
GPS_ENABLE = 62,
|
||||
GPS_ACCURACY = 120,
|
||||
GPS_BEARING = 121,
|
||||
GPS_TIME = 122,
|
||||
GPS_TIME_VALID = 123,
|
||||
};
|
||||
|
||||
inline std::ostream& operator<<(std::ostream& os, const LiveDataCommand cmd) {
|
||||
switch (cmd) {
|
||||
case LiveDataCommand::STATUS: return os << "Status";
|
||||
case LiveDataCommand::SUBSCRIBE: return os << "Subscribe";
|
||||
case LiveDataCommand::UNSUBSCRIBE: return os << "Unsubscribe";
|
||||
case LiveDataCommand::RESPONSE: return os << "Response";
|
||||
}
|
||||
return os;
|
||||
}
|
||||
|
||||
inline std::ostream& operator<<(std::ostream& os, const LiveDataStatus cmd) {
|
||||
switch (cmd) {
|
||||
case LiveDataStatus::SUCCESS: return os << "Success";
|
||||
case LiveDataStatus::ERR_UNKNOWN_COMMAND: return os << "Error: Unknown Command";
|
||||
case LiveDataStatus::ERR_HANDLE: return os << "Error: Handle";
|
||||
case LiveDataStatus::ERR_DUPLICATE: return os << "Error: Duplicate";
|
||||
case LiveDataStatus::ERR_FULL: return os << "Error: Argument limit reached";
|
||||
}
|
||||
return os;
|
||||
}
|
||||
|
||||
inline std::ostream& operator<<(std::ostream& os, const LiveDataValueType cmd) {
|
||||
switch (cmd) {
|
||||
case LiveDataValueType::GPS_LATITUDE: return os << "GPS Latitude";
|
||||
case LiveDataValueType::GPS_LONGITUDE: return os << "GPS Longitude";
|
||||
case LiveDataValueType::GPS_ALTITUDE: return os << "GPS Altitude";
|
||||
case LiveDataValueType::GPS_SPEED: return os << "GPS Speed";
|
||||
case LiveDataValueType::GPS_VALID: return os << "GPS Valid";
|
||||
case LiveDataValueType::GPS_ENABLE: return os << "GPS Enabled";
|
||||
case LiveDataValueType::GPS_ACCURACY: return os << "GPS Accuracy";
|
||||
case LiveDataValueType::GPS_BEARING: return os << "GPS Bearing";
|
||||
case LiveDataValueType::GPS_TIME: return os << "GPS Time";
|
||||
case LiveDataValueType::GPS_TIME_VALID: return os << "GPS Time Valid";
|
||||
}
|
||||
return os;
|
||||
}
|
||||
|
||||
#pragma pack(push,2)
|
||||
struct LiveDataHeader {
|
||||
uint32_t version; // See LiveDataVersion
|
||||
uint32_t cmd;
|
||||
uint32_t handle;
|
||||
};
|
||||
|
||||
struct LiveDataArgument {
|
||||
LiveDataObjectType objectType;
|
||||
uint32_t objectIndex;
|
||||
uint32_t signalIndex;
|
||||
LiveDataValueType valueType;
|
||||
};
|
||||
|
||||
struct LiveDataValueHeader {
|
||||
uint16_t length; // Number of bytes to follow header
|
||||
uint8_t reserved[2];
|
||||
};
|
||||
|
||||
typedef struct
|
||||
{
|
||||
LiveDataValueHeader header;
|
||||
int64_t value;
|
||||
} LiveDataValue;
|
||||
|
||||
struct LiveDataValueResponse : public LiveDataHeader {
|
||||
uint32_t numArgs;
|
||||
LiveDataValue values[1];
|
||||
};
|
||||
|
||||
struct LiveDataStatusResponse : public LiveDataHeader {
|
||||
LiveDataCommand requestedCommand;
|
||||
LiveDataStatus status;
|
||||
};
|
||||
|
||||
struct LiveDataSubscribe : public LiveDataHeader {
|
||||
uint32_t numArgs;
|
||||
uint32_t freqMs;
|
||||
uint32_t expireMs;
|
||||
LiveDataArgument args[1];
|
||||
};
|
||||
|
||||
struct ExtResponseHeader {
|
||||
ExtendedCommand command;
|
||||
uint16_t length;
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
namespace LiveDataUtil
|
||||
{
|
||||
|
||||
LiveDataHandle getNewHandle();
|
||||
double liveDataValueToDouble(const LiveDataValue& val);
|
||||
static constexpr uint32_t LiveDataVersion = 1;
|
||||
|
||||
} // namespace LiveDataUtil
|
||||
} // namespace icsneo
|
||||
|
||||
#endif // _cplusplus
|
||||
#endif // __LIVEDATA_H__
|
||||
|
|
@ -0,0 +1,44 @@
|
|||
#ifndef __EXTENDEDLIVEDATAMESSAGE_H_
|
||||
#define __EXTENDEDLIVEDATAMESSAGE_H_
|
||||
#ifdef __cplusplus
|
||||
|
||||
#include <chrono>
|
||||
#include "icsneo/communication/message/message.h"
|
||||
#include "icsneo/communication/command.h"
|
||||
#include "icsneo/communication/livedata.h"
|
||||
|
||||
namespace icsneo {
|
||||
class LiveDataMessage : public RawMessage {
|
||||
public:
|
||||
LiveDataMessage() : RawMessage(Message::Type::LiveData, Network::NetID::ExtendedCommand) {}
|
||||
LiveDataHandle handle;
|
||||
LiveDataCommand cmd;
|
||||
};
|
||||
|
||||
class LiveDataCommandMessage : public LiveDataMessage {
|
||||
public:
|
||||
LiveDataCommandMessage() {}
|
||||
std::chrono::milliseconds updatePeriod;
|
||||
std::chrono::milliseconds expirationTime;
|
||||
std::vector<std::shared_ptr<LiveDataArgument>> args;
|
||||
void appendSignalArg(LiveDataValueType valueType);
|
||||
};
|
||||
|
||||
class LiveDataValueMessage : public LiveDataMessage {
|
||||
public:
|
||||
LiveDataValueMessage() {}
|
||||
uint32_t numArgs;
|
||||
std::vector<std::shared_ptr<LiveDataValue>> values;
|
||||
};
|
||||
|
||||
class LiveDataStatusMessage : public LiveDataMessage {
|
||||
public:
|
||||
LiveDataStatusMessage() {}
|
||||
LiveDataCommand requestedCommand;
|
||||
LiveDataStatus status;
|
||||
};
|
||||
|
||||
} // namespace icsneo
|
||||
|
||||
#endif // __cplusplus
|
||||
#endif // __EXTENDEDLIVEDATAMESSAGE_H_
|
||||
|
|
@ -37,6 +37,7 @@ public:
|
|||
ComponentVersions = 0x800c,
|
||||
SupportedFeatures = 0x800d,
|
||||
GenericBinaryStatus = 0x800e,
|
||||
LiveData = 0x800f,
|
||||
};
|
||||
|
||||
Message(Type t) : type(t) {}
|
||||
|
|
|
|||
|
|
@ -0,0 +1,27 @@
|
|||
#ifndef __LIVEDATAPACKET_H__
|
||||
#define __LIVEDATAPACKET_H__
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
||||
#include <cstdint>
|
||||
#include <memory>
|
||||
#include <vector>
|
||||
#include "icsneo/api/eventmanager.h"
|
||||
#include "icsneo/communication/message/message.h"
|
||||
#include "icsneo/communication/message/livedatamessage.h"
|
||||
#include "icsneo/communication/livedata.h"
|
||||
|
||||
namespace icsneo {
|
||||
|
||||
class LiveDataMessage;
|
||||
|
||||
struct HardwareLiveDataPacket {
|
||||
static std::shared_ptr<Message> DecodeToMessage(const std::vector<uint8_t>& bytes, const device_eventhandler_t& report);
|
||||
static bool EncodeFromMessage(LiveDataMessage& message, std::vector<uint8_t>& bytes, const device_eventhandler_t& report);
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif // __cplusplus
|
||||
|
||||
#endif // __LIVEDATAPACKET_H__
|
||||
|
|
@ -35,7 +35,9 @@
|
|||
#include "icsneo/communication/message/supportedfeaturesmessage.h"
|
||||
#include "icsneo/communication/message/genericbinarystatusmessage.h"
|
||||
#include "icsneo/communication/message/extendeddatamessage.h"
|
||||
#include "icsneo/communication/message/livedatamessage.h"
|
||||
#include "icsneo/communication/packet/genericbinarystatuspacket.h"
|
||||
#include "icsneo/communication/packet/livedatapacket.h"
|
||||
#include "icsneo/device/extensions/flexray/controller.h"
|
||||
#include "icsneo/communication/message/flexray/control/flexraycontrolmessage.h"
|
||||
#include "icsneo/communication/message/ethphymessage.h"
|
||||
|
|
@ -561,6 +563,9 @@ public:
|
|||
*/
|
||||
virtual bool supportsWiVI() const { return false; }
|
||||
|
||||
// Returns true if this device supports Live Data subscription
|
||||
virtual bool supportsLiveData() const { return false; }
|
||||
|
||||
std::optional<EthPhyMessage> sendEthPhyMsg(const EthPhyMessage& message, std::chrono::milliseconds timeout = std::chrono::milliseconds(50));
|
||||
|
||||
std::optional<bool> SetCollectionUploaded(uint32_t collectionEntryByteAddress);
|
||||
|
|
@ -570,6 +575,9 @@ public:
|
|||
|
||||
std::optional<size_t> getGenericBinarySize(uint16_t binaryIndex);
|
||||
bool readBinaryFile(std::ostream& stream, uint16_t binaryIndex);
|
||||
bool subscribeLiveData(std::shared_ptr<LiveDataCommandMessage> message);
|
||||
bool unsubscribeLiveData(const LiveDataHandle& handle);
|
||||
bool clearAllLiveData();
|
||||
|
||||
protected:
|
||||
bool online = false;
|
||||
|
|
|
|||
|
|
@ -75,6 +75,8 @@ protected:
|
|||
|
||||
bool supportsWiVI() const override { return true; }
|
||||
|
||||
bool supportsLiveData() const override { return true; }
|
||||
|
||||
std::optional<MemoryAddress> getCoreminiStartAddressFlash() const override {
|
||||
return 33*1024*1024;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -60,6 +60,8 @@ protected:
|
|||
|
||||
bool supportsWiVI() const override { return true; }
|
||||
|
||||
bool supportsLiveData() const override { return true; }
|
||||
|
||||
std::optional<MemoryAddress> getCoreminiStartAddressFlash() const override {
|
||||
return 33*1024*1024;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -0,0 +1,188 @@
|
|||
#include "icsneo/icsneocpp.h"
|
||||
#include "icsneo/communication/encoder.h"
|
||||
#include "icsneo/communication/packet/livedatapacket.h"
|
||||
#include "icsneo/communication/message/livedatamessage.h"
|
||||
#include "icsneo/communication/packetizer.h"
|
||||
#include "icsneo/api/eventmanager.h"
|
||||
#include "gtest/gtest.h"
|
||||
#include <vector>
|
||||
#include <iostream>
|
||||
|
||||
using namespace icsneo;
|
||||
|
||||
class LiveDataEncoderDecoderTest : public ::testing::Test {
|
||||
protected:
|
||||
void SetUp() override {
|
||||
report = [](APIEvent::Type, APIEvent::Severity) {
|
||||
// Unless caught by the test, the packetizer should not throw errors
|
||||
EXPECT_TRUE(false);
|
||||
};
|
||||
packetizer.emplace([this](APIEvent::Type t, APIEvent::Severity s) {
|
||||
report(t, s);
|
||||
});
|
||||
packetEncoder.emplace([this](APIEvent::Type t, APIEvent::Severity s) {
|
||||
report(t, s);
|
||||
});
|
||||
packetDecoder.emplace([this](APIEvent::Type t, APIEvent::Severity s) {
|
||||
report(t, s);
|
||||
});
|
||||
|
||||
msg = std::make_shared<icsneo::LiveDataCommandMessage>();
|
||||
arg = std::make_shared<LiveDataArgument>();
|
||||
msg->handle = 1;
|
||||
msg->updatePeriod = std::chrono::milliseconds(100);
|
||||
msg->expirationTime = std::chrono::milliseconds(0);
|
||||
arg->objectType = LiveDataObjectType::MISC;
|
||||
arg->objectIndex = 0;
|
||||
arg->signalIndex = 0;
|
||||
arg->valueType = LiveDataValueType::GPS_LATITUDE;
|
||||
msg->args.push_back(arg);
|
||||
}
|
||||
device_eventhandler_t report;
|
||||
std::optional<Encoder> packetEncoder;
|
||||
std::optional<Packetizer> packetizer;
|
||||
std::optional<Decoder> packetDecoder;
|
||||
|
||||
const std::vector<uint8_t> testBytesSub =
|
||||
{
|
||||
0xaa, //start AA
|
||||
0x0B, //netid main51
|
||||
0x2F, 0x00, //size little end 16
|
||||
0xF0, //extended header command
|
||||
0x35, 0x00, //Live data subcommand little 16
|
||||
0x26, 0x00, //extended subcommand size, little 16
|
||||
0x01, 0x00, 0x00, 0x00, //live data version
|
||||
0x01, 0x00, 0x00, 0x00, //live data command (subscribe)
|
||||
0x01, 0x00, 0x00, 0x00, //live data handle
|
||||
0x01, 0x00, 0x00, 0x00, //numArgs
|
||||
0x64, 0x00, 0x00, 0x00, //freqMs (100ms)
|
||||
0x00, 0x00, 0x00, 0x00, //expireMs (zero, never expire)
|
||||
0x08, 0x00, //lObjectType eCoreMiniObjectTypeMisc
|
||||
0x00, 0x00, 0x00, 0x00, //lObjectIndex
|
||||
0x00, 0x00, 0x00, 0x00, //lSignalIndex
|
||||
0x02, 0x00, 0x00, 0x00, //enumCoreMiniMiscGPSLatitude
|
||||
0x41 //padding byte
|
||||
};
|
||||
|
||||
const std::vector<uint8_t> testBytesUnsub =
|
||||
{
|
||||
0xaa, //start AA
|
||||
0x0B, //netid main51
|
||||
0x15, 0x00, //size little end 16
|
||||
0xF0, //extended header command
|
||||
0x35, 0x00, //Live data subcommand little 16
|
||||
0x0C, 0x00, //extended subcommand size, little 16
|
||||
0x01, 0x00, 0x00, 0x00, //LiveDataUtil::LiveDataVersion
|
||||
0x02, 0x00, 0x00, 0x00, //LiveDataCommand::UNSUBSCRIBE
|
||||
0x01, 0x00, 0x00, 0x00, //handle
|
||||
0x41 //padding byte
|
||||
};
|
||||
|
||||
const std::vector<uint8_t> testBytesClear =
|
||||
{
|
||||
0xaa, //start AA
|
||||
0x0B, //netid main51
|
||||
0x15, 0x00, //size little end 16
|
||||
0xF0, //extended header command
|
||||
0x35, 0x00, //Live data subcommand little 16
|
||||
0x0C, 0x00, //extended subcommand size, little 16
|
||||
0x01, 0x00, 0x00, 0x00, //LiveDataUtil::LiveDataVersion
|
||||
0x04, 0x00, 0x00, 0x00, //LiveDataCommand::CLEAR_ALL
|
||||
0x00, 0x00, 0x00, 0x00, //handle
|
||||
0x41 //padding byte
|
||||
};
|
||||
|
||||
const std::vector<uint8_t> testBytesResponse =
|
||||
{
|
||||
0xaa, //start AA
|
||||
0x0C, //netid RED
|
||||
0x2C, 0x00, //size little end 16
|
||||
0xF0, 0x00, //extended header command
|
||||
0x35, 0x00, //Live data subcommand little 16
|
||||
0x1C, 0x00, //extended subcommand size, little 16
|
||||
0x01, 0x00, 0x00, 0x00, //version
|
||||
0x03, 0x00, 0x00, 0x00, //cmd
|
||||
0x01, 0x00, 0x00, 0x00, //handle
|
||||
0x01, 0x00, 0x00, 0x00, //numArgs
|
||||
0x08, 0x00, //value 1 header (length)
|
||||
0x00, 0x00, //value 1 reserved
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, //value large
|
||||
0x08, 0x00, 0x00, 0x00, 0x00, 0x00,
|
||||
};
|
||||
|
||||
const std::vector<uint8_t> testBytesStatus =
|
||||
{
|
||||
0xaa, //start AA
|
||||
0x0C, //netid RED
|
||||
0x24, 0x00, //size little end 16
|
||||
0xF0, 0x00, //extended header command
|
||||
0x35, 0x00, //Live data subcommand little 16
|
||||
0x14, 0x00, //extended subcommand size, little 16
|
||||
0x01, 0x00, 0x00, 0x00, //version
|
||||
0x00, 0x00, 0x00, 0x00, //cmd (status)
|
||||
0x01, 0x00, 0x00, 0x00, //handle
|
||||
0x01, 0x00, 0x00, 0x00, //requested command (subscribe)
|
||||
0x00, 0x00, 0x00, 0x00, //error
|
||||
0x00, 0x00, 0x00, 0x00, //padding
|
||||
0x00, 0x00,
|
||||
};
|
||||
|
||||
std::shared_ptr<icsneo::LiveDataCommandMessage> msg;
|
||||
std::shared_ptr<icsneo::LiveDataArgument> arg;
|
||||
};
|
||||
|
||||
TEST_F(LiveDataEncoderDecoderTest, EncodeSubscribeCommandTest) {
|
||||
std::vector<uint8_t> bytestream;
|
||||
msg->cmd = icsneo::LiveDataCommand::SUBSCRIBE;
|
||||
packetEncoder->encode(*packetizer, bytestream, msg);
|
||||
EXPECT_EQ(bytestream, testBytesSub);
|
||||
}
|
||||
|
||||
TEST_F(LiveDataEncoderDecoderTest, EncodeUnsubscribeCommandTest) {
|
||||
std::vector<uint8_t> bytestream;
|
||||
auto unsubMsg = std::make_shared<icsneo::LiveDataMessage>();
|
||||
unsubMsg->cmd = icsneo::LiveDataCommand::UNSUBSCRIBE;
|
||||
unsubMsg->handle = msg->handle;
|
||||
packetEncoder->encode(*packetizer, bytestream, unsubMsg);
|
||||
EXPECT_EQ(bytestream, testBytesUnsub);
|
||||
}
|
||||
|
||||
TEST_F(LiveDataEncoderDecoderTest, EncodeClearCommandTest) {
|
||||
std::vector<uint8_t> bytestream;
|
||||
auto unsubMsg = std::make_shared<icsneo::LiveDataMessage>();
|
||||
unsubMsg->cmd = icsneo::LiveDataCommand::CLEAR_ALL;
|
||||
packetEncoder->encode(*packetizer, bytestream, unsubMsg);
|
||||
EXPECT_EQ(bytestream, testBytesClear);
|
||||
}
|
||||
|
||||
TEST_F(LiveDataEncoderDecoderTest, DecoderStatusTest) {
|
||||
std::shared_ptr<Message> result;
|
||||
if (packetizer->input(testBytesStatus)) {
|
||||
for (const auto& packet : packetizer->output()) {
|
||||
if (!packetDecoder->decode(result, packet))
|
||||
continue;
|
||||
}
|
||||
}
|
||||
EXPECT_TRUE(result != nullptr);
|
||||
auto response = std::dynamic_pointer_cast<LiveDataStatusMessage>(result);
|
||||
EXPECT_EQ(response->handle, static_cast<uint32_t>(1u));
|
||||
EXPECT_EQ(response->cmd, LiveDataCommand::STATUS);
|
||||
EXPECT_EQ(response->requestedCommand, LiveDataCommand::SUBSCRIBE);
|
||||
EXPECT_EQ(response->status, LiveDataStatus::SUCCESS);
|
||||
}
|
||||
|
||||
TEST_F(LiveDataEncoderDecoderTest, DecoderResponseTest) {
|
||||
std::shared_ptr<Message> result;
|
||||
if (packetizer->input(testBytesResponse)) {
|
||||
for (const auto& packet : packetizer->output()) {
|
||||
if (!packetDecoder->decode(result, packet))
|
||||
continue;
|
||||
}
|
||||
}
|
||||
EXPECT_TRUE(result != nullptr);
|
||||
auto response = std::dynamic_pointer_cast<LiveDataValueMessage>(result);
|
||||
EXPECT_EQ(response->handle, static_cast<uint32_t>(1u));
|
||||
EXPECT_EQ(response->cmd, LiveDataCommand::RESPONSE);
|
||||
EXPECT_EQ(response->numArgs, static_cast<uint32_t>(1u));
|
||||
EXPECT_EQ(icsneo::LiveDataUtil::liveDataValueToDouble(*response->values[0]), 0.0);
|
||||
}
|
||||
Loading…
Reference in New Issue