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Separate MessageDecoder from Packetizer and optimize

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This will, in the future, allow overriding of MessageDecoder per device as necessary.
This commit is contained in:
Paul Hollinsky
2018-09-13 19:39:19 -04:00
parent e2e5017331
commit 9f43e9e39e
9 changed files with 440 additions and 374 deletions
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communication/include/communication.h
+6
View File
@@ -40,6 +40,12 @@ public:
void setAlign16Bit(bool enable) { align16bit = enable; }
class Packet {
public:
Network network;
std::vector<uint8_t> data;
};
protected:
std::shared_ptr<ICommunication> impl;
static int messageCallbackIDCounter;
communication/include/messagedecoder.h
+249 -235
View File
@@ -1,6 +1,7 @@
#ifndef __MESSAGEDECODER_H_
#define __MESSAGEDECODER_H_
#include "communication/include/communication.h"
#include "communication/message/include/message.h"
#include "communication/message/include/canmessage.h"
#include "communication/include/network.h"
@@ -12,245 +13,258 @@ namespace icsneo {
class MessageDecoder {
public:
bool input(const std::vector<uint8_t>& bytes);
std::vector<std::shared_ptr<Message>> output();
std::shared_ptr<Message> decodePacket(const std::shared_ptr<Communication::Packet>& message);
private:
enum class ReadState {
SearchForHeader,
ParseHeader,
ParseLongStylePacketHeader,
GetData
};
ReadState state = ReadState::SearchForHeader;
int currentIndex = 0;
int messageLength = 0;
int headerSize = 0;
bool checksum = false;
bool gotGoodMessages = false; // Tracks whether we've ever gotten a good message
Message message;
std::deque<uint8_t> bytes;
void processMessage(const Message& message);
std::vector<std::shared_ptr<Message>> processedMessages;
typedef uint16_t icscm_bitfield;
struct CoreMiniMsg {
CANMessage toCANMessage(Network netid);
union {
uint16_t CxTRB0SID16;
struct
{
icscm_bitfield IDE : 1;
icscm_bitfield SRR : 1;
icscm_bitfield SID : 11;
icscm_bitfield NETWORKINDEX : 3;//DO NOT CLOBBER THIS
} CxTRB0SID;
struct
{
icscm_bitfield : 13;
icscm_bitfield EDL : 1;
icscm_bitfield BRS : 1;
icscm_bitfield ESI : 1;
} CxTRB0FD;
struct
{
icscm_bitfield ErrRxOnlyBreak : 1;
icscm_bitfield ErrRxOnlyBreakSync : 1;
icscm_bitfield ID : 11;
icscm_bitfield NETWORKINDEX : 3;//DO NOT CLOBBER THIS
} CxLIN3;
struct
{
uint8_t D8;
uint8_t options : 4;
uint8_t TXMSG : 1;
uint8_t NETWORKINDEX : 3;//DO NOT CLOBBER THIS
} C1xJ1850;
struct
{
uint8_t D8;
uint8_t options : 4;
uint8_t TXMSG : 1;
uint8_t NETWORKINDEX : 3;//DO NOT CLOBBER THIS
} C1xISO;
struct
{
uint8_t D8;
uint8_t options : 4;
uint8_t TXMSG : 1;
uint8_t NETWORKINDEX : 3;//DO NOT CLOBBER THIS
} C1xJ1708;
struct
{
icscm_bitfield FCS_AVAIL : 1;
icscm_bitfield RUNT_FRAME : 1;
icscm_bitfield DISABLE_PADDING : 1;
icscm_bitfield PREEMPTION_ENABLED : 1;
icscm_bitfield MPACKET_TYPE : 4;
icscm_bitfield MPACKET_FRAG_CNT : 2;
icscm_bitfield : 6;
} C1xETH;
struct
{
uint16_t ID : 11;
uint16_t STARTUP : 1;
uint16_t SYNC : 1;
uint16_t NULL_FRAME : 1;
uint16_t PAYLOAD_PREAMBLE : 1;
uint16_t RESERVED_0 : 1;
} C1xFlex;
struct
{
uint8_t daqType;
uint8_t ethDaqRes1;
} C1xETHDAQ;
};
union {
uint16_t CxTRB0EID16;
struct
{
icscm_bitfield EID : 12;
icscm_bitfield TXMSG : 1;
icscm_bitfield TXAborted : 1;
icscm_bitfield TXLostArb : 1;
icscm_bitfield TXError : 1;
} CxTRB0EID;
struct
{
uint8_t LINByte9;
uint8_t ErrTxRxMismatch : 1;
uint8_t TxChkSumEnhanced : 1;
uint8_t TXMaster : 1;
uint8_t TXSlave : 1;
uint8_t ErrRxBreakNot0 : 1;
uint8_t ErrRxBreakTooShort : 1;
uint8_t ErrRxSyncNot55 : 1;
uint8_t ErrRxDataGreater8 : 1;
} CxLIN;
struct
{
uint8_t D9;
uint8_t D10;
} C2xJ1850;
struct
{
uint8_t D9;
uint8_t D10;
} C2xISO;
struct
{
uint8_t D9;
uint8_t D10;
} C2xJ1708;
struct
{
uint16_t txlen : 12;
uint16_t TXMSG : 1;
uint16_t : 3;
} C2xETH;
struct
{
uint16_t HDR_CRC_10 : 1;
uint16_t PAYLOAD_LEN : 7;
uint16_t RESERVED_1 : 4;
uint16_t TXMSG : 1;
uint16_t RESERVED_2 : 3;
} C2xFlex;
};
union {
// For use by CAN
uint16_t CxTRB0DLC16;
struct
{
icscm_bitfield DLC : 4;
icscm_bitfield RB0 : 1;
icscm_bitfield IVRIF : 1;
icscm_bitfield HVEnable : 1;// must be cleared before passing into CAN driver
icscm_bitfield ExtendedNetworkIndexBit : 1;//DO NOT CLOBBER THIS
icscm_bitfield RB1 : 1;
icscm_bitfield RTR : 1;
icscm_bitfield EID : 6;
} CxTRB0DLC;
struct
{
icscm_bitfield len : 4;
icscm_bitfield ExtendedNetworkIndexBit2 : 1;//DO NOT CLOBBER THIS
icscm_bitfield UpdateSlaveOnce : 1;
icscm_bitfield HasUpdatedSlaveOnce : 1;
icscm_bitfield ExtendedNetworkIndexBit : 1;//DO NOT CLOBBER THIS
icscm_bitfield BusRecovered : 1;
icscm_bitfield SyncFerr : 1;//!< We got framing error in our sync byte.
icscm_bitfield MidFerr : 1;//!< We got framing error in our message id.
icscm_bitfield SlaveByteFerr : 1;//!< We got framing error in one of our slave bytes.
icscm_bitfield TxAborted : 1;//!< This transmit was aborted.
icscm_bitfield breakOnly : 1;
icscm_bitfield : 2;
} CxLIN2;
// For use by JVPW
struct
{
icscm_bitfield len : 4;
icscm_bitfield ExtendedNetworkIndexBit2 : 1;//DO NOT CLOBBER THIS
icscm_bitfield just_tx_timestamp : 1;
icscm_bitfield first_seg : 1;
icscm_bitfield ExtendedNetworkIndexBit : 1;// do not clobber ExtendedNetworkIndexBit
icscm_bitfield D11 : 8;
} C3xJ1850;
// For use by the ISO/KEYWORD
struct
{
icscm_bitfield len : 4;
icscm_bitfield ExtendedNetworkIndexBit2 : 1;//DO NOT CLOBBER THIS
icscm_bitfield FRM : 1;
icscm_bitfield INIT : 1;
icscm_bitfield ExtendedNetworkIndexBit : 1;// do not clobber ExtendedNetworkIndexBit
icscm_bitfield D11 : 8;
} C3xISO;
struct
{
icscm_bitfield len : 4;
icscm_bitfield ExtendedNetworkIndexBit2 : 1;//DO NOT CLOBBER THIS
icscm_bitfield FRM : 1;
icscm_bitfield : 1;
icscm_bitfield ExtendedNetworkIndexBit : 1;// do not clobber ExtendedNetworkIndexBit
icscm_bitfield pri : 8;
} C3xJ1708;
struct
{
uint16_t rsvd;
} C3xETH;
struct
{
uint16_t CYCLE : 6;
uint16_t HDR_CRC_9_0 : 10;
} C3xFlex;
};
unsigned char CxTRB0Dall[8];
union {
uint16_t CxTRB0STAT;
uint16_t J1850_TX_ID;
};
union {
struct
{
uint32_t uiTimeStamp10uS;
union {
uint32_t uiTimeStamp10uSMSB;
struct
{
unsigned : 28;
unsigned res_0s : 3;// must be 0!!!
unsigned bIsExtended : 1;// always 1 for CoreMiniMsgExtended.
};
};
};
int64_t uiTimeStampLarge;
uint8_t uiTimeStampBytes[8];
};
struct HardwareCANPacket {
struct {
icscm_bitfield IDE : 1;
icscm_bitfield SRR : 1;
icscm_bitfield SID : 11;
icscm_bitfield EDL : 1;
icscm_bitfield BRS : 1;
icscm_bitfield ESI : 1;
} header;
struct {
icscm_bitfield EID : 12;
icscm_bitfield TXMSG : 1;
icscm_bitfield TXAborted : 1;
icscm_bitfield TXLostArb : 1;
icscm_bitfield TXError : 1;
} eid;
struct {
icscm_bitfield DLC : 4;
icscm_bitfield RB0 : 1;
icscm_bitfield IVRIF : 1;
icscm_bitfield HVEnable : 1;// must be cleared before passing into CAN driver
icscm_bitfield ExtendedNetworkIndexBit : 1;//DO NOT CLOBBER THIS
icscm_bitfield RB1 : 1;
icscm_bitfield RTR : 1;
icscm_bitfield EID : 6;
} dlc;
unsigned char data[8];
struct {
uint64_t TS : 60;
uint64_t : 3;
uint64_t IsExtended : 1;
} timestamp;
};
// struct CoreMiniMsg {
// CANMessage toCANMessage(Network netid);
// union {
// uint16_t CxTRB0SID16;
// struct
// {
// icscm_bitfield IDE : 1;
// icscm_bitfield SRR : 1;
// icscm_bitfield SID : 11;
// icscm_bitfield NETWORKINDEX : 3;//DO NOT CLOBBER THIS
// } CxTRB0SID;
// struct
// {
// icscm_bitfield : 13;
// icscm_bitfield EDL : 1;
// icscm_bitfield BRS : 1;
// icscm_bitfield ESI : 1;
// } CxTRB0FD;
// struct
// {
// icscm_bitfield ErrRxOnlyBreak : 1;
// icscm_bitfield ErrRxOnlyBreakSync : 1;
// icscm_bitfield ID : 11;
// icscm_bitfield NETWORKINDEX : 3;//DO NOT CLOBBER THIS
// } CxLIN3;
// struct
// {
// uint8_t D8;
// uint8_t options : 4;
// uint8_t TXMSG : 1;
// uint8_t NETWORKINDEX : 3;//DO NOT CLOBBER THIS
// } C1xJ1850;
// struct
// {
// uint8_t D8;
// uint8_t options : 4;
// uint8_t TXMSG : 1;
// uint8_t NETWORKINDEX : 3;//DO NOT CLOBBER THIS
// } C1xISO;
// struct
// {
// uint8_t D8;
// uint8_t options : 4;
// uint8_t TXMSG : 1;
// uint8_t NETWORKINDEX : 3;//DO NOT CLOBBER THIS
// } C1xJ1708;
// struct
// {
// icscm_bitfield FCS_AVAIL : 1;
// icscm_bitfield RUNT_FRAME : 1;
// icscm_bitfield DISABLE_PADDING : 1;
// icscm_bitfield PREEMPTION_ENABLED : 1;
// icscm_bitfield MPACKET_TYPE : 4;
// icscm_bitfield MPACKET_FRAG_CNT : 2;
// icscm_bitfield : 6;
// } C1xETH;
// struct
// {
// uint16_t ID : 11;
// uint16_t STARTUP : 1;
// uint16_t SYNC : 1;
// uint16_t NULL_FRAME : 1;
// uint16_t PAYLOAD_PREAMBLE : 1;
// uint16_t RESERVED_0 : 1;
// } C1xFlex;
// struct
// {
// uint8_t daqType;
// uint8_t ethDaqRes1;
// } C1xETHDAQ;
// };
// union {
// uint16_t CxTRB0EID16;
// struct
// {
// icscm_bitfield EID : 12;
// icscm_bitfield TXMSG : 1;
// icscm_bitfield TXAborted : 1;
// icscm_bitfield TXLostArb : 1;
// icscm_bitfield TXError : 1;
// } CxTRB0EID;
// struct
// {
// uint8_t LINByte9;
// uint8_t ErrTxRxMismatch : 1;
// uint8_t TxChkSumEnhanced : 1;
// uint8_t TXMaster : 1;
// uint8_t TXSlave : 1;
// uint8_t ErrRxBreakNot0 : 1;
// uint8_t ErrRxBreakTooShort : 1;
// uint8_t ErrRxSyncNot55 : 1;
// uint8_t ErrRxDataGreater8 : 1;
// } CxLIN;
// struct
// {
// uint8_t D9;
// uint8_t D10;
// } C2xJ1850;
// struct
// {
// uint8_t D9;
// uint8_t D10;
// } C2xISO;
// struct
// {
// uint8_t D9;
// uint8_t D10;
// } C2xJ1708;
// struct
// {
// uint16_t txlen : 12;
// uint16_t TXMSG : 1;
// uint16_t : 3;
// } C2xETH;
// struct
// {
// uint16_t HDR_CRC_10 : 1;
// uint16_t PAYLOAD_LEN : 7;
// uint16_t RESERVED_1 : 4;
// uint16_t TXMSG : 1;
// uint16_t RESERVED_2 : 3;
// } C2xFlex;
// };
// union {
// // For use by CAN
// uint16_t CxTRB0DLC16;
// struct
// {
// icscm_bitfield DLC : 4;
// icscm_bitfield RB0 : 1;
// icscm_bitfield IVRIF : 1;
// icscm_bitfield HVEnable : 1;// must be cleared before passing into CAN driver
// icscm_bitfield ExtendedNetworkIndexBit : 1;//DO NOT CLOBBER THIS
// icscm_bitfield RB1 : 1;
// icscm_bitfield RTR : 1;
// icscm_bitfield EID : 6;
// } CxTRB0DLC;
// struct
// {
// icscm_bitfield len : 4;
// icscm_bitfield ExtendedNetworkIndexBit2 : 1;//DO NOT CLOBBER THIS
// icscm_bitfield UpdateSlaveOnce : 1;
// icscm_bitfield HasUpdatedSlaveOnce : 1;
// icscm_bitfield ExtendedNetworkIndexBit : 1;//DO NOT CLOBBER THIS
// icscm_bitfield BusRecovered : 1;
// icscm_bitfield SyncFerr : 1;//!< We got framing error in our sync byte.
// icscm_bitfield MidFerr : 1;//!< We got framing error in our message id.
// icscm_bitfield SlaveByteFerr : 1;//!< We got framing error in one of our slave bytes.
// icscm_bitfield TxAborted : 1;//!< This transmit was aborted.
// icscm_bitfield breakOnly : 1;
// icscm_bitfield : 2;
// } CxLIN2;
// // For use by JVPW
// struct
// {
// icscm_bitfield len : 4;
// icscm_bitfield ExtendedNetworkIndexBit2 : 1;//DO NOT CLOBBER THIS
// icscm_bitfield just_tx_timestamp : 1;
// icscm_bitfield first_seg : 1;
// icscm_bitfield ExtendedNetworkIndexBit : 1;// do not clobber ExtendedNetworkIndexBit
// icscm_bitfield D11 : 8;
// } C3xJ1850;
// // For use by the ISO/KEYWORD
// struct
// {
// icscm_bitfield len : 4;
// icscm_bitfield ExtendedNetworkIndexBit2 : 1;//DO NOT CLOBBER THIS
// icscm_bitfield FRM : 1;
// icscm_bitfield INIT : 1;
// icscm_bitfield ExtendedNetworkIndexBit : 1;// do not clobber ExtendedNetworkIndexBit
// icscm_bitfield D11 : 8;
// } C3xISO;
// struct
// {
// icscm_bitfield len : 4;
// icscm_bitfield ExtendedNetworkIndexBit2 : 1;//DO NOT CLOBBER THIS
// icscm_bitfield FRM : 1;
// icscm_bitfield : 1;
// icscm_bitfield ExtendedNetworkIndexBit : 1;// do not clobber ExtendedNetworkIndexBit
// icscm_bitfield pri : 8;
// } C3xJ1708;
// struct
// {
// uint16_t rsvd;
// } C3xETH;
// struct
// {
// uint16_t CYCLE : 6;
// uint16_t HDR_CRC_9_0 : 10;
// } C3xFlex;
// };
// unsigned char CxTRB0Dall[8];
// union {
// uint16_t CxTRB0STAT;
// uint16_t J1850_TX_ID;
// };
// union {
// struct
// {
// uint32_t uiTimeStamp10uS;
// union {
// uint32_t uiTimeStamp10uSMSB;
// struct
// {
// unsigned : 28;
// unsigned res_0s : 3;// must be 0!!!
// unsigned bIsExtended : 1;// always 1 for CoreMiniMsgExtended.
// };
// };
// };
// int64_t uiTimeStampLarge;
// uint8_t uiTimeStampBytes[8];
// };
// };
};
}
communication/include/packetizer.h
+38
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@@ -0,0 +1,38 @@
#ifndef __PACKETIZER_H_
#define __PACKETIZER_H_
#include "communication/include/communication.h"
#include <queue>
#include <vector>
#include <memory>
namespace icsneo {
class Packetizer {
public:
bool input(const std::vector<uint8_t>& bytes);
std::vector<std::shared_ptr<Communication::Packet>> output();
private:
enum class ReadState {
SearchForHeader,
ParseHeader,
ParseLongStylePacketHeader,
GetData
};
ReadState state = ReadState::SearchForHeader;
int currentIndex = 0;
int packetLength = 0;
int headerSize = 0;
bool checksum = false;
bool gotGoodPackets = false; // Tracks whether we've ever gotten a good packet
Communication::Packet packet;
std::deque<uint8_t> bytes;
std::vector<std::shared_ptr<Communication::Packet>> processedPackets;
};
}
#endif