mirror of
https://github.com/intrepidcs/libicsneo.git
synced 2026-08-05 01:18:36 +02:00
Refactor for a central include directory
This commit is contained in:
Paul Hollinsky
@@ -1,23 +0,0 @@
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#ifndef __CANMESSAGECALLBACK_H_
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#define __CANMESSAGECALLBACK_H_
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#include "communication/message/callback/include/messagecallback.h"
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#include "communication/message/include/canmessage.h"
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#include "communication/message/filter/include/canmessagefilter.h"
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#include <memory>
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namespace icsneo {
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class CANMessageCallback : public MessageCallback {
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public:
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CANMessageCallback(fn_messageCallback cb, std::shared_ptr<CANMessageFilter> f) : MessageCallback(cb, f) {}
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CANMessageCallback(fn_messageCallback cb, CANMessageFilter f = CANMessageFilter()) : MessageCallback(cb, std::make_shared<CANMessageFilter>(f)) {}
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// Allow the filter to be placed first if the user wants (maybe in the case of a lambda)
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CANMessageCallback(std::shared_ptr<CANMessageFilter> f, fn_messageCallback cb) : MessageCallback(cb, f) {}
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CANMessageCallback(CANMessageFilter f, fn_messageCallback cb) : MessageCallback(cb, std::make_shared<CANMessageFilter>(f)) {}
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};
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};
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#endif
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@@ -1,23 +0,0 @@
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#ifndef __MAIN51MESSAGECALLBACK_H_
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#define __MAIN51MESSAGECALLBACK_H_
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#include "communication/message/callback/include/messagecallback.h"
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#include "communication/message/include/main51message.h"
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#include "communication/message/filter/include/main51messagefilter.h"
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#include <memory>
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namespace icsneo {
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class Main51MessageCallback : public MessageCallback {
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public:
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Main51MessageCallback(fn_messageCallback cb, std::shared_ptr<Main51MessageFilter> f) : MessageCallback(cb, f) {}
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Main51MessageCallback(fn_messageCallback cb, Main51MessageFilter f = Main51MessageFilter()) : MessageCallback(cb, std::make_shared<Main51MessageFilter>(f)) {}
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// Allow the filter to be placed first if the user wants (maybe in the case of a lambda)
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Main51MessageCallback(std::shared_ptr<Main51MessageFilter> f, fn_messageCallback cb) : MessageCallback(cb, f) {}
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Main51MessageCallback(Main51MessageFilter f, fn_messageCallback cb) : MessageCallback(cb, std::make_shared<Main51MessageFilter>(f)) {}
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};
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};
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#endif
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@@ -1,38 +0,0 @@
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#ifndef __MESSAGECALLBACK_H_
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#define __MESSAGECALLBACK_H_
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#include "communication/message/include/message.h"
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#include "communication/message/filter/include/messagefilter.h"
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#include <memory>
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#include <functional>
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namespace icsneo {
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class MessageCallback {
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public:
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typedef std::function< void( std::shared_ptr<Message> ) > fn_messageCallback;
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MessageCallback(fn_messageCallback cb, std::shared_ptr<MessageFilter> f) : callback(cb), filter(f) {}
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MessageCallback(fn_messageCallback cb, MessageFilter f = MessageFilter()) : callback(cb), filter(std::make_shared<MessageFilter>(f)) {}
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// Allow the filter to be placed first if the user wants (maybe in the case of a lambda)
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MessageCallback(std::shared_ptr<MessageFilter> f, fn_messageCallback cb) : callback(cb), filter(f) {}
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MessageCallback(MessageFilter f, fn_messageCallback cb) : callback(cb), filter(std::make_shared<MessageFilter>(f)) {}
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virtual bool callIfMatch(const std::shared_ptr<Message>& message) const {
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bool ret = filter->match(message);
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if(ret)
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callback(message);
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return ret;
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}
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const MessageFilter& getFilter() const { return *filter; }
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const fn_messageCallback& getCallback() const { return callback; }
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protected:
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fn_messageCallback callback;
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std::shared_ptr<MessageFilter> filter;
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};
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}
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#endif
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@@ -1,38 +0,0 @@
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#ifndef __CANMESSAGEFILTER_H_
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#define __CANMESSAGEFILTER_H_
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#include "communication/message/filter/include/messagefilter.h"
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#include "communication/include/network.h"
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#include "communication/message/include/message.h"
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#include "communication/message/include/canmessage.h"
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#include <memory>
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namespace icsneo {
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class CANMessageFilter : public MessageFilter {
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public:
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CANMessageFilter() : MessageFilter(Network::Type::CAN), arbid(INVALID_ARBID) {}
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CANMessageFilter(uint32_t arbid) : MessageFilter(Network::Type::CAN), arbid(arbid) {}
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bool match(const std::shared_ptr<Message>& message) const {
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if(!MessageFilter::match(message))
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return false;
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const auto canMessage = std::dynamic_pointer_cast<CANMessage>(message);
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if(canMessage == nullptr || !matchArbID(canMessage->arbid))
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return false;
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return true;
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}
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private:
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static constexpr uint32_t INVALID_ARBID = 0xffffffff;
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uint32_t arbid;
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bool matchArbID(uint32_t marbid) const {
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if(arbid == INVALID_ARBID)
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return true;
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return arbid == marbid;
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}
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};
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};
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#endif
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@@ -1,46 +0,0 @@
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#ifndef __MAIN51MESSAGEFILTER_H_
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#define __MAIN51MESSAGEFILTER_H_
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#include "communication/message/filter/include/messagefilter.h"
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#include "communication/include/network.h"
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#include "communication/include/communication.h"
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#include "communication/message/include/main51message.h"
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#include <memory>
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#include <iostream>
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namespace icsneo {
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class Main51MessageFilter : public MessageFilter {
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public:
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Main51MessageFilter() : MessageFilter(Network::NetID::Main51), command(INVALID_COMMAND) {}
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Main51MessageFilter(Command command) : MessageFilter(Network::NetID::Main51), command(command) {}
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bool match(const std::shared_ptr<Message>& message) const {
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if(!MessageFilter::match(message)) {
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//std::cout << "message filter did not match base for " << message->network << std::endl;
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return false;
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}
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const auto main51Message = std::dynamic_pointer_cast<Main51Message>(message);
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if(!main51Message)
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std::cout << "could not upcast " << message->network << std::endl;
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if(main51Message == nullptr || !matchCommand(main51Message->command)) {
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if(main51Message)
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std::cout << "Could not match command " << (int)(command) << " to " << (int)(main51Message->command) << std::endl;
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return false;
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}
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return true;
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}
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private:
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static constexpr Command INVALID_COMMAND = (Command)0xff;
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Command command;
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bool matchCommand(Command mcommand) const {
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if(command == INVALID_COMMAND)
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return true;
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return command == mcommand;
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}
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};
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}
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#endif
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@@ -1,45 +0,0 @@
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#ifndef __MESSAGEFILTER_H_
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#define __MESSAGEFILTER_H_
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#include "communication/include/network.h"
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#include "communication/message/include/message.h"
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#include <memory>
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namespace icsneo {
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class MessageFilter {
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public:
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MessageFilter() {}
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MessageFilter(Network::Type type) : type(type) {}
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MessageFilter(Network::NetID netid) : netid(netid) {}
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virtual ~MessageFilter() {}
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// When getting "all" types of messages, include the ones marked as "internal only"
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bool includeInternalInAny = false;
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virtual bool match(const std::shared_ptr<Message>& message) const {
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if(!matchType(message->network.getType()))
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return false;
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if(!matchNetID(message->network.getNetID()))
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return false;
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return true;
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}
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private:
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Network::Type type = Network::Type::Any;
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bool matchType(Network::Type mtype) const {
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if(type == Network::Type::Any && (mtype != Network::Type::Internal || includeInternalInAny))
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return true;
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return type == mtype;
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}
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Network::NetID netid = Network::NetID::Any;
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bool matchNetID(Network::NetID mnetid) const {
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if(netid == Network::NetID::Any)
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return true;
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return netid == mnetid;
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}
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};
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}
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#endif
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@@ -1,20 +0,0 @@
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#ifndef __CANMESSAGE_H_
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#define __CANMESSAGE_H_
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#include "communication/message/include/message.h"
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namespace icsneo {
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class CANMessage : public Message {
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public:
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uint32_t arbid;
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uint8_t dlcOnWire;
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bool isRemote = false;
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bool isExtended = false;
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bool isCANFD = false;
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bool baudrateSwitch = false; // CAN FD only
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};
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}
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#endif
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@@ -1,17 +0,0 @@
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#ifndef __MAIN51MESSAGE_H_
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#define __MAIN51MESSAGE_H_
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#include "communication/message/include/message.h"
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#include "communication/include/communication.h"
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namespace icsneo {
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class Main51Message : public Message {
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public:
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virtual ~Main51Message() = default;
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Command command;
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};
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}
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#endif
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@@ -1,19 +0,0 @@
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#ifndef __MESSAGE_H_
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#define __MESSAGE_H_
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#include "communication/include/network.h"
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#include <vector>
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namespace icsneo {
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class Message {
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public:
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virtual ~Message() = default;
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Network network;
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std::vector<uint8_t> data;
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uint64_t timestamp;
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};
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}
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#endif
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@@ -1,135 +0,0 @@
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#ifndef __NEOMESSAGE_H_
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#define __NEOMESSAGE_H_
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#include <stdint.h>
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#include <stddef.h>
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#pragma pack(push, 1)
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typedef union {
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struct {
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uint32_t globalError : 1;
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uint32_t transmitMessage : 1;
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uint32_t extendedFrame : 1;
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uint32_t remoteFrame : 1;
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uint32_t crcError : 1;
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uint32_t canErrorPassive : 1;
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uint32_t incompleteFrame : 1;
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uint32_t lostArbitration : 1;
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uint32_t undefinedError : 1;
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uint32_t canBusOff : 1;
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uint32_t canErrorWarning : 1;
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uint32_t canBusShortedPlus : 1;
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uint32_t canBusShortedGround : 1;
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uint32_t checksumError : 1;
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uint32_t badMessageBitTimeError : 1;
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uint32_t ifrData : 1;
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uint32_t hardwareCommError : 1;
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uint32_t expectedLengthError : 1;
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uint32_t incomingNoMatch : 1;
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uint32_t statusBreak : 1;
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uint32_t avsiRecOverflow : 1;
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uint32_t testTrigger : 1;
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uint32_t audioComment : 1;
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uint32_t gpsData : 1;
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uint32_t analogDigitalInput : 1;
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uint32_t textComment : 1;
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uint32_t networkMessageType : 1;
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uint32_t vsiTXUnderrun : 1;
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uint32_t vsiIFRCRCBit : 1;
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uint32_t initMessage : 1;
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//uint32_t highSpeedMessage : 1; // Occupies the same space as flexraySecondStartupFrame
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uint32_t flexraySecondStartupFrame : 1;
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uint32_t extended : 1;
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// ~~~ End of bitfield 1 ~~~
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uint32_t hasValue : 1;
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uint32_t valueIsBoolean : 1;
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uint32_t highVoltage : 1;
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uint32_t longMessage : 1;
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uint32_t : 12;
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uint32_t globalChange : 1;
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uint32_t errorFrame : 1;
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uint32_t : 2;
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uint32_t endOfLongMessage : 1;
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uint32_t linErrorRXBreakNotZero : 1;
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uint32_t linErrorRXBreakTooShort : 1;
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uint32_t linErrorRXSyncNot55 : 1;
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uint32_t linErrorRXDataGreaterEight : 1;
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uint32_t linErrorTXRXMismatch : 1;
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uint32_t linErrorMessageIDParity : 1;
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//isoFrameError
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uint32_t linSyncFrameError : 1;
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//isoOverflowError
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uint32_t linIDFrameError : 1;
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//isoParityError
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uint32_t linSlaveByteError : 1;
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uint32_t rxTimeoutError : 1;
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uint32_t linNoSlaveData : 1;
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// mostPacketData
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// mostStatus
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// mostLowLevel
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// mostControlData
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// mostMHPUserData
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// mostMHPControlData
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// mostI2SDump
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// mostTooShort
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// most50
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// most150
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// mostChangedParameter
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// ethernetCRCError
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// ethernetFrameTooShort
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// ethernetFCSAvailable
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// ~~~ End of bitfield 2 ~~~
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//uint32_t linJustBreakSync : 1;
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//uint32_t linSlaveDataTooShort : 1;
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//uint32_t linOnlyUpdateSlaveTableOnce : 1;
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uint32_t canfdESI : 1;
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uint32_t canfdIDE : 1;
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uint32_t canfdRTR : 1;
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uint32_t canfdFDF : 1;
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uint32_t canfdBRS : 1;
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};
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uint32_t statusBitfield[4];
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} neomessage_statusbitfield_t;
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typedef struct {
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neomessage_statusbitfield_t status;
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uint64_t timestamp;
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const uint8_t* data;
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size_t length;
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uint8_t header[4];
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uint16_t netid;
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uint8_t type;
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uint8_t reserved[9];
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} neomessage_t;
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// Any time you add another neomessage_*_t type, make sure to add it to the static_asserts below!
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typedef struct {
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neomessage_statusbitfield_t status;
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uint64_t timestamp;
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const uint8_t* data;
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size_t length;
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uint32_t arbid;
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uint16_t netid;
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uint8_t type;
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uint8_t dlcOnWire;
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char reserved[8];
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} neomessage_can_t;
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#pragma pack(pop)
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#ifdef __cplusplus
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#include "communication/message/include/message.h"
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#include <memory>
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static_assert(sizeof(neomessage_can_t) == sizeof(neomessage_t), "All types of neomessage_t must be the same size!");
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namespace icsneo {
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neomessage_t CreateNeoMessage(const std::shared_ptr<Message> message);
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std::shared_ptr<Message> CreateMessageFromNeoMessage(const neomessage_t* neomessage);
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}
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#endif
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#endif
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@@ -1,35 +0,0 @@
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#ifndef __RESETSTATUSMESSAGE_H_
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#define __RESETSTATUSMESSAGE_H_
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#include "communication/message/include/main51message.h"
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#include "communication/include/command.h"
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#include <string>
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namespace icsneo {
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class ResetStatusMessage : public Message {
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public:
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ResetStatusMessage() : Message() {}
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virtual ~ResetStatusMessage() = default;
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uint16_t mainLoopTime;
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uint16_t maxMainLoopTime;
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bool justReset;
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bool comEnabled;
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bool cmRunning;
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bool cmChecksumFailed;
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bool cmLicenseFailed;
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bool cmVersionMismatch;
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bool cmBootOff;
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bool hardwareFailure;
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bool usbComEnabled;
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bool linuxComEnabled;
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bool cmTooBig;
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bool hidUsbState;
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bool fpgaUsbState;
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uint16_t busVoltage;
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uint16_t deviceTemperature;
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};
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}
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#endif
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@@ -1,24 +0,0 @@
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#ifndef __SERIALNUMBERMESSAGE_H_
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#define __SERIALNUMBERMESSAGE_H_
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#include "communication/message/include/main51message.h"
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#include "communication/include/command.h"
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#include <string>
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namespace icsneo {
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// The response for Command::RequestSerialNumber
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class SerialNumberMessage : public Main51Message {
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public:
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SerialNumberMessage() : Main51Message() { command = Command::RequestSerialNumber; }
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virtual ~SerialNumberMessage() = default;
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std::string deviceSerial;
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uint8_t macAddress[6]; // This might be all zeros even if `hasMacAddress` is true
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bool hasMacAddress = false; // The message might not actually be long enough to contain a MAC address, in which case we mark this
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uint8_t pcbSerial[16];
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bool hasPCBSerial = false;
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};
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}
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#endif
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@@ -1,5 +1,5 @@
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#include "communication/message/include/neomessage.h"
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#include "communication/message/include/canmessage.h"
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#include "icsneo/communication/message/neomessage.h"
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#include "icsneo/communication/message/canmessage.h"
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using namespace icsneo;
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