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/*****************************************************************
Copyright (C) 2014 Intel Corporation
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
*****************************************************************/
#ifndef AMBTMPL_PLUGIN_H_
#define AMBTMPL_PLUGIN_H_
#include <map>
#include <memory>
#include <tgmath.h>
#include <limits>
#include <byteswap.h>
#include <boost/interprocess/sync/interprocess_recursive_mutex.hpp>
#include <boost/interprocess/sync/scoped_lock.hpp>
#include <canbus.h>
#include <canobserver.h>
#include <ambpluginimpl.h>
#include "ambtmpl_cansignal.h"
using namespace boost::interprocess;
// forward declaration
class CANSignal;
class CANMessage;
class AmbTmplPlugin : public AmbPluginImpl, public CANObserver {
public:
AmbTmplPlugin(AbstractRoutingEngine* re, const std::map<std::string, std::string>& config, AbstractSink& parent);
virtual ~AmbTmplPlugin(); // has to be virtual because of unit tests
// from AbstractSink
public:
/*! uuid() is a unique identifier of the plugin
* @return a guid-style unique identifier
*/
const std::string uuid() const { return "/*GENERATED_CODE*/"; }
/*!
* \brief setProperty is called when a sink requests to set a value for a given property.
* This is only called if the source supports the Set Operation.
* \param request the requested property to set.
* \return returns a pointer to the new value for the property.
*/
AsyncPropertyReply *setProperty(const AsyncSetPropertyRequest& request );
/*!
* \brief supportedOperations
* \return returns the supported operations.
*/
int supportedOperations() const;
// from CANObserver
public:
/*!
* Called when error occurred on the bus.
* \fn errorOccured
* \param error \link CANObserver#CANError Bus error code \endlink
*/
virtual void errorOccured(CANObserver::CANError error);/* socket error */
/*!
* Called when standard frame was is received from the bus.
* \fn standardFrameReceived
* \param frame Received frame
*/
virtual void standardFrameReceived(const can_frame& frame);/* SFF was present */
/*!
* Called when extended frame was is received from the bus.
* \fn extendedFrameReceived
* \param frame Received frame
*/
virtual void extendedFrameReceived(const can_frame& frame);/* EFF was present */
/*!
* Called when error frame was received from the bus.
* \fn errorFrameReceived
* \param frame Error frame
*/
virtual void errorFrameReceived(const can_frame& frame);/* error frame */
/*!
* Called when remote transmission frame was received from the bus.
* \fn remoteTransmissionRequest
* \param frame RTR frame
*/
virtual void remoteTransmissionRequest(const can_frame& frame);/* remote transmission request (SFF/EFF is still present)*/
/**
* Sends standard(11bit) CAN frame over the bus
* \fn sendStandardFrame
* \param frame CAN frame to be sent
* \return True if frame was sent
*/
bool sendStandardFrame(const can_frame& frame);
/**
* Sends extended(29bit) CAN frame over the bus
* \fn sendExtendedFrame
* \param frame CAN frame to be sent
* \return True if frame was sent
*/
bool sendExtendedFrame(const can_frame& frame);
/*!
* Second phase of the plugin initialization.
* \fn init
*/
virtual void init();
void eraseTimer(const canid_t& id)
{
scoped_lock<interprocess_recursive_mutex> lock(mutex);
auto it = timers.find(id);
if(it != timers.end()){
timers.erase(it);
}
}
protected:
void registerMessage(const canid_t& canId, const __u8& canDlc)
{
LOG_MESSAGE("registered message: " << canId);
}
template<typename Signal, typename... Rest>
void registerMessage(const canid_t& canId, const __u8& canDlc, Signal* canSignal, Rest... rest)
{
static_assert(std::is_base_of<CANSignal, Signal>::value, "CANSignal has to be a base of Signal");
if(!canSignal)
return;
std::shared_ptr<AbstractPropertyType> prop(AmbPluginImpl::addPropertySupport(Zone::None, canSignal->factory()));
if(prop) {
canSignal->setAmbProperty(prop);
auto messageIt = messages.find(canId);
if(messageIt == messages.end()){
messageIt = messages.insert(make_pair(canId, CANMessage(canId, canDlc))).first;
}
auto& message = messageIt->second;
message.addSignal(prop->name, std::shared_ptr<CANSignal>(canSignal));
propertyToMessage[prop->name] = &message;
}
registerMessage(canId, canDlc, rest...);
}
private:
void printFrame(const can_frame& frame) const;
void onMessage(const can_frame& frame);
bool sendValue(AbstractPropertyType* value);
void registerMessages();
static void timerDestroyNotify(gpointer data);
static gboolean timeoutCallback(gpointer data);
//
// data:
//
std::map< canid_t, CANMessage > messages;
std::map< VehicleProperty::Property, CANMessage* > propertyToMessage;
std::string interface;
/**
* CANBus class instance
* \property canBus
* \private
*/
std::unique_ptr<CANBus> canBus;
typedef std::tuple<AmbTmplPlugin*, CANBus*, int, const can_frame> TimerData;
std::map< canid_t, guint > timers;
interprocess_recursive_mutex mutex;
uint announcementIntervalTimer;
uint announcementCount;
};
#endif /* AMBTMPL_PLUGIN_H_ */
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