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can: clean can_parse and test configuration parsing

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This commit is contained in:
Niklas Eiling 2020-07-08 16:07:32 +02:00 • committed by Steffen Vogel
parent a174e06961
commit 496daae78f
1 changed files with 105 additions and 96 deletions
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201
lib/nodes/can.cpp
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@ -83,6 +83,58 @@ int can_destroy(struct node *n)
return 0;
}
int can_parse_signal(json_t *json, struct vlist *node_signals, struct can_signal *can_signals)
{
const char *name = nullptr;
uint64_t can_id = 0;
int can_size = 8;
int can_offset = 0;
struct signal* sig = nullptr;
int ret = 1;
json_error_t err;
ret = json_unpack_ex(json, &err, 0, "{ s: s, s?: i, s?: i, s?: i }",
"name", &name,
"can_id", &can_id,
"can_size", &can_size,
"can_offset", &can_offset
);
if (ret) {
jerror(&err, "Failed to parse signal configuration for can");
goto out;
}
if (!name) {
error("No signale name specified for signal.");
goto out;
}
if (can_size > 8 || can_size <= 0) {
error("can_size of %d for signal \"%s\" is invalid. You must satisfy 0 < can_size <= 8.", can_size, name);
goto out;
}
if (can_offset > 8 || can_offset < 0) {
error("can_offset of %d for signal \"%s\" is invalid. You must satisfy 0 <= can_offset <= 8.", can_offset, name);
goto out;
}
for (size_t i=0; i < vlist_length(node_signals); i++) {
sig = (struct signal*)vlist_at(node_signals, i);
if (strcmp(name, sig->name) == 0) {
can_signals[i].id = can_id;
can_signals[i].size = can_size;
can_signals[i].offset = can_offset;
ret = 0;
goto out;
}
}
error("Did not find signal for can_signal \"%s\"\n while parsing configuration file", name);
out:
return ret;
}
int can_parse(struct node *n, json_t *cfg)
{
int ret = 1;
@ -95,8 +147,9 @@ int can_parse(struct node *n, json_t *cfg)
c->in = nullptr;
c->out = nullptr;
printf("can_parse\n");
ret = json_unpack_ex(cfg, &err, 0, "{ s: s, s: F, s: { s: o}, s: { s: o}}",
ret = json_unpack_ex(cfg, &err, 0, "{ s: s, s: F, s?: { s?: o }, s?: { s?: o } }",
"interface_name", &c->interface_name,
"sample_rate", &c->sample_rate,
"in",
@ -108,6 +161,7 @@ int can_parse(struct node *n, json_t *cfg)
jerror(&err, "Failed to parse configuration of node %s", node_name(n));
goto out;
}
printf("in: %lu, out: %lu\n", json_array_size(json_in_signals), json_array_size(json_out_signals));
if ((c->in = (struct can_signal*)calloc(
json_array_size(json_in_signals),
@ -123,80 +177,16 @@ int can_parse(struct node *n, json_t *cfg)
}
json_array_foreach(json_in_signals, i, json_signal) {
const char *name = nullptr;
uint64_t can_id = 0;
int can_size = 8;
int can_offset = 0;
struct signal* sig = nullptr;
ret = json_unpack_ex(json_signal, &err, 0, "{ s: s, s?: i, s?: i, s?: i }",
"name", &name,
"can_id", &can_id,
"can_size", &can_size,
"can_offset", &can_offset
);
if (ret) {
jerror(&err, "Failed to parse signal configuration of node %s", node_name(n));
if (can_parse_signal(json_signal, &n->in.signals, c->in) != 0) {
error("at signal %zu in node %s.",i , node_name(n));
goto out;
}
if (!name) {
error("No signale name specified for signal %zu of node %s.", i, node_name(n));
goto out;
}
for (size_t i=0; i < vlist_length(&(n->in.signals)); i++) {
sig = (struct signal*)vlist_at(&n->in.signals, i);
if (strcmp(name, sig->name) == 0) {
c->in[i].id = can_id;
c->in[i].size = can_size;
c->in[i].offset = can_offset;
break;
}
}
}
json_array_foreach(json_out_signals, i, json_signal) {
const char *name = nullptr;
uint64_t can_id;
int can_size = 8;
int can_offset = 0;
struct signal* sig = nullptr;
ret = json_unpack_ex(json_signal, &err, 0, "{ s: s, s?: i, s?: i, s?: i }",
"name", &name,
"can_id", &can_id,
"can_size", &can_size,
"can_offset", &can_offset
);
if (ret) {
jerror(&err, "Failed to parse signal configuration of node %s", node_name(n));
if (can_parse_signal(json_signal, &n->out.signals, c->out) != 0) {
error("at signal %zu in node %s.",i , node_name(n));
goto out;
}
if (!name) {
error("No signale name specified for signal %zu of node %s.", i, node_name(n));
goto out;
}
if (can_size > 8 || can_size <= 0) {
error("can_size of %d for signal \"%s\" is invalid. You must satisfy 0 < can_size <= 8.", can_size, name);
goto out;
}
if (can_offset > 8 || can_offset < 0) {
error("can_offset of %d for signal \"%s\" is invalid. You must satisfy 0 <= can_offset <= 8.", can_offset, name);
goto out;
}
for (size_t i=0; i < vlist_length(&n->in.signals); i++) {
sig = (struct signal*)vlist_at(&n->in.signals, i);
if (strcmp(name, sig->name) == 0) {
c->in[i].id = can_id;
c->in[i].size = can_size;
c->in[i].offset = can_offset;
break;
}
}
}
ret = 0;
out:
@ -230,6 +220,11 @@ int can_check(struct node *n)
int can_prepare(struct node *n)
{
struct signal* sig;
for (size_t i=0; i < vlist_length(&(n->in.signals)); i++) {
sig = (struct signal*)vlist_at(&n->in.signals, i);
printf("signal: %s\n", sig->name);
}
//struct can *c = (struct can *) n->_vd;
/* TODO: Add implementation here. The following is just an can */
@ -307,48 +302,62 @@ int can_read(struct node *n, struct sample *smps[], unsigned cnt, unsigned *rele
{
int nbytes;
unsigned nread;
unsigned signal_num;
struct can_frame frame;
struct timeval tv;
bool found_id = false;
struct can *c = (struct can *) n->_vd;
assert(cnt >= 1 && smps[0]->capacity >= 1);
for (nread=0; nread < cnt; nread++) {
if ((nbytes = read(c->socket, &frame, sizeof(struct can_frame))) == -1) {
error("CAN read() returned -1. Is the CAN interface up?");
return 1;
}
if ((unsigned)nbytes != sizeof(struct can_frame)) {
error("CAN read() error. read() returned %d bytes but expected %zu",
nbytes, sizeof(struct can_frame));
return 1;
}
signal_num = 0;
found_id = false;
while (signal_num < (unsigned)vlist_length(&(n->in.signals))) {
if ((nbytes = read(c->socket, &frame, sizeof(struct can_frame))) == -1) {
error("CAN read() returned -1. Is the CAN interface up?");
return 0;
}
if ((unsigned)nbytes != sizeof(struct can_frame)) {
error("CAN read() error. read() returned %d bytes but expected %zu",
nbytes, sizeof(struct can_frame));
return 0;
}
printf("id:%d, len:%u, data: 0x%x:0x%x\n", frame.can_id,
frame.can_dlc,
((uint32_t*)&frame.data)[0],
((uint32_t*)&frame.data)[1]);
printf("id:%d, len:%u, data: 0x%x:0x%x\n", frame.can_id,
frame.can_dlc,
((uint32_t*)&frame.data)[0],
((uint32_t*)&frame.data)[1]);
if (ioctl(c->socket, SIOCGSTAMP, &tv) != 0) {
warning("Could not get timestamp from CAN driver on interface \"%s\".", c->interface_name);
smps[nread]->ts.received = time_now();
} else {
TIMEVAL_TO_TIMESPEC(&tv, &smps[nread]->ts.received);
}
if (ioctl(c->socket, SIOCGSTAMP, &tv) != 0) {
warning("Could not get timestamp from CAN driver on interface \"%s\".", c->interface_name);
smps[nread]->ts.received = time_now();
} else {
TIMEVAL_TO_TIMESPEC(&tv, &smps[nread]->ts.received);
}
for (size_t i=0; i < vlist_length(&(n->in.signals)); i++) {
if (c->in[i].id == frame.can_id) {
/* This is a bit ugly. But there is no clean way to
* clear the union. */
smps[nread]->data[i].i = 0;
memcpy(&smps[nread]->data[i],
((uint8_t*)&frame.data) + c->in[i].offset,
c->in[i].size);
for (size_t i=0; i < vlist_length(&(n->in.signals)); i++) {
printf("%d\n", c->in[i].id);
if (c->in[i].id == frame.can_id) {
/* This is a bit ugly. But there is no clean way to
* clear the union. */
smps[nread]->data[i].i = 0;
memcpy(&smps[nread]->data[i],
((uint8_t*)&frame.data) + c->in[i].offset,
c->in[i].size);
signal_num++;
found_id = true;
}
}
if (!found_id) {
error("did not find signal for can id %d\n", frame.can_id);
return 0;
}
}
/* Set signals, because other VILLASnode parts expect us to */
smps[nread]->signals = &n->in.signals;
smps[nread]->length = signal_num;
}
return nread;
}