void TracFacilities_c::processMsg( const CanPkg_c& arc_data )
{
CanPkgExt_c pkg( arc_data, getMultitonInst() );
if( !pkg.isValid() || (pkg.getMonitorItemForSA() == NULL) )
return;
IsoName_c const& rcc_tempISOName = pkg.getISONameForSA();
switch (pkg.isoPgn() & 0x3FF00LU)
{
case TRACTOR_FACILITIES_PGN:
if ( checkParseReceived (rcc_tempISOName) )
{ // sender is allowed to send
for (uint8_t ui8_counter = 0;ui8_counter<sizeof(arrui8_facilitiesBitData)/sizeof(uint8_t);++ui8_counter)
arrui8_facilitiesBitData[ui8_counter] = pkg.getUint8Data(ui8_counter);
setSelectedDataSourceISOName (rcc_tempISOName);
setUpdateTime( pkg.time() );
} else
{ // there is a sender conflict
IsoAgLib::getILibErrInstance().registerNonFatal( IsoAgLib::iLibErr_c::TracMultipleSender, getMultitonInst() );
}
break;
}
}
void TracPTO_c::processMsg( const CanPkg_c& arc_data )
{
CanPkgExt_c pkg( arc_data, getMultitonInst() );
if( !pkg.isValid() || (pkg.getMonitorItemForSA() == NULL) )
return;
IsoName_c const& rcc_tempISOName = pkg.getISONameForSA();
if (((pkg.isoPgn() /*& 0x3FFFF*/) == FRONT_PTO_STATE_PGN) || ((pkg.isoPgn() /*& 0x3FFFF*/) == REAR_PTO_STATE_PGN))
{
const ecutime_t ci32_now = pkg.time();
// only take values, if i am not the regular sender
// and if actual sender isn't in conflict to previous sender
if ( checkParseReceived( rcc_tempISOName ) )
{ // sender is allowed to send
PtoData_t* pt_ptoData = NULL;
if (pkg.isoPgn() == FRONT_PTO_STATE_PGN)
{ // front PTO
pt_ptoData = &mt_ptoFront;
}
else
{ // rear PTO
pt_ptoData = &mt_ptoRear;
}
pt_ptoData->i32_lastPto = ci32_now;
pt_ptoData->ui16_pto8DigitPerRpm = pkg.getUint16Data(0);
pt_ptoData->ui16_ptoSetPoint8DigitPerRpm = pkg.getUint16Data(2);
pt_ptoData->t_ptoEngaged = IsoAgLib::IsoActiveFlag_t( ( pkg.getUint8Data(4) >> 6) & 3 );
pt_ptoData->t_pto1000 = IsoAgLib::IsoActiveFlag_t( ( pkg.getUint8Data(4) >> 4) & 3 );
pt_ptoData->t_ptoEconomy = IsoAgLib::IsoActiveFlag_t( ( pkg.getUint8Data(4) >> 2) & 3 );
pt_ptoData->t_ptoEngagementReqStatus = IsoAgLib::IsoReqFlag_t( pkg.getUint8Data(4) & 3 );
pt_ptoData->t_ptoModeReqStatus = IsoAgLib::IsoReqFlag_t( (pkg.getUint8Data(5) >> 6) & 3 );
pt_ptoData->t_ptoEconomyModeReqStatus = IsoAgLib::IsoReqFlag_t( (pkg.getUint8Data(5) >> 4) & 3 );
pt_ptoData->t_ptoShaftSpeedLimitStatus = IsoAgLib::IsoLimitFlag_t( (pkg.getUint8Data(5) >> 1) & 0x7 );
// set last time
setSelectedDataSourceISOName (rcc_tempISOName);
// update time
pt_ptoData->i32_lastPto = pkg.time();
// must be set because this is needed in basecommon_c
setUpdateTime( pt_ptoData->i32_lastPto );
//msg from Tractor received do tell Scheduler_c next call not until 3000ms
mt_task.setNextTriggerTime( pkg.time() + CONFIG_TIMEOUT_TRACTOR_DATA );
}
else
{ // there is a sender conflict
IsoAgLib::getILibErrInstance().registerNonFatal( IsoAgLib::iLibErr_c::TracMultipleSender, getMultitonInst() );
}
}
TracLight_c::SendMessage_e TracLight_c::sendLightingCommand()
{
const ecutime_t ci32_now = System_c::getTime();
CanPkgExt_c pkg;
// tractor mode
if ( ( ci32_now - marr_timeStamp[m_index] ) <= 1000 )
{ // WE ARE NOT ALLOWED TO SEND - EVEN IF REQUESTED
return MessageNotSent;
}
else if ( (!mb_changeNeedBeSend) && ( (ci32_now - marr_timeStamp[(m_index+9)%10]) < 900 ) ) // (m_index+9)%10 -> youngest entry in array marr_timeStamp[];
{ // to send requested (i.e. no change occured) or not yet time to repeat last command
return MessageNotSent;
}
mb_changeNeedBeSend = false;
// now it's evident, that we have to send a command
pkg.setIsoPgn(LIGHTING_COMMAND_PGN);
setSelectedDataSourceISOName( getIdentItem()->isoName() );
pkg.setIsoPri(3);
uint16_t ui16_temp = 0;
ui16_temp =
(mt_cmd.implOEMOpt2 << 0) +
(mt_cmd.implOEMOpt1 << 2) +
(mt_cmd.implRightForwardWork << 4) +
(mt_cmd.implLeftForwardWork << 6) +
(mt_cmd.dataMsgReq << 8) +
(mt_cmd.implRightFacingWork << 10) +
(mt_cmd.implLeftFacingWork << 12) +
(mt_cmd.implRearWork << 14);
pkg.setUint16Data(6, ui16_temp);
//overwrite the eldest time event with latest time event
marr_timeStamp[m_index] = ci32_now;
//set m_index to the eldest time event
m_index = (m_index + 1) % 10;
return helpSendMessage( pkg );
}
/** send facilities data
@see TracFacilities_c::processMsgRequestPGN
@see CanIo_c::operator<<
*/
void TracFacilities_c::sendFacilities( )
{// there is no need to check for address claim because this is already done in the processMsgRequestPGN;
// this function is only be called on request!!
isoaglib_assert( getIdentItem() );
IsoBus_c& c_can = getIsoBusInstance4Comm();
CanPkgExt_c pkg;
pkg.setMonitorItemForSA( getIdentItem()->getIsoItem() );
setSelectedDataSourceISOName( getIdentItem()->isoName() );
pkg.setIsoPri(3);
pkg.setLen(8);
pkg.setIsoPgn(TRACTOR_FACILITIES_PGN);
for (uint8_t ui8_counter = 0;ui8_counter<sizeof(arrui8_facilitiesBitData)/sizeof(uint8_t);++ui8_counter)
pkg.setUint8Data(ui8_counter,arrui8_facilitiesBitData[ui8_counter]);
// CanIo_c::operator<< retreives the information with the help of CanPkg_c::getData
// then it sends the data
c_can << pkg;
}
void TracLight_c::processMsg( const CanPkg_c& arc_data )
{
CanPkgExt_c pkg( arc_data, getMultitonInst() );
if( !pkg.isValid() || (pkg.getMonitorItemForSA() == NULL) )
return;
IsoName_c const& rcc_tempISOName = pkg.getISONameForSA();
lightBitData_t* pt_data = NULL;
switch (pkg.isoPgn() /*& 0x3FFFF*/) // don't need to &, we're interested in the whole PGN!
{
case LIGHTING_DATA_PGN:
// lighting state information is sent by more than one sender -> store ALL messages with SA as key in STL_NAMESPACE::map
pt_data = &(mmap_data[pkg.isoSa()]);
if (pt_data != NULL)
pt_data->dataMsgReq = IsoAgLib::IsoDontCare; //reserved field in lighting data
break;
case LIGHTING_COMMAND_PGN:
// CMD is EXCLUSIVELY SENT BY ONE TRACTOR ECU!!! --> CHECK
if ( checkParseReceived (rcc_tempISOName) )
{ // sender is allowed to send
pt_data = &mt_cmd;
mt_cmd.dataMsgReq = IsoAgLib::IsoDataReq_t( pkg.getUint8Data(7) & 3 );
if (mt_cmd.dataMsgReq == IsoAgLib::IsoDataRequested)
mb_cmdWait4Response = true;
// set last time - use the array of send time stamps which is needed in tractor mode
// in implement mode, the first item can be used to trace received tractor commands
marr_timeStamp[0] = pkg.time();
setSelectedDataSourceISOName (rcc_tempISOName);
setUpdateTime( pkg.time() );
} else
{ // there is a sender conflict
IsoAgLib::getILibErrInstance().registerNonFatal( IsoAgLib::iLibErr_c::TracMultipleSender, getMultitonInst() );
}
break;
}
if ( pt_data == NULL )
{ // preconditions for parsing of this message are NOT fullfilled --> exit function with false
return;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// from here on, we can safely process the message as all preconditions are fullfilled
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
uint16_t ui16_temp = pkg.getUint16Data( 0 );
pt_data->daytimeRunning = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 0) & 3 ) ;
pt_data->alternateHead = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 2) & 3 ) ;
pt_data->lowBeamHead = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 4) & 3 ) ;
pt_data->highBeamHead = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 6) & 3 ) ;
pt_data->frontFog = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 8) & 3 ) ;
pt_data->beacon = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 10) & 3 ) ;
pt_data->rightTurn = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 12) & 3 ) ;
pt_data->leftTurn = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 14) & 3 ) ;
ui16_temp = pkg.getUint16Data( 2 );
pt_data->backUpLightAlarmHorn = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 0) & 3 ) ;
pt_data->centerStop = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 2) & 3 ) ;
pt_data->rightStop = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 4) & 3 ) ;
pt_data->leftStop = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 6) & 3 ) ;
pt_data->implClearance = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 8) & 3 ) ;
pt_data->tracClearance = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 10) & 3 ) ;
pt_data->implMarker = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 12) & 3 ) ;
pt_data->tracMarker = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 14) & 3 ) ;
ui16_temp = pkg.getUint16Data( 4 );
pt_data->rearFog = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 0) & 3 ) ;
pt_data->undersideWork = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 2) & 3 ) ;
pt_data->rearLowWork = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 4) & 3 ) ;
pt_data->rearHighWork = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 6) & 3 ) ;
pt_data->sideLowWork = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 8) & 3 ) ;
pt_data->sideHighWork = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 10) & 3 ) ;
pt_data->frontLowWork = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 12) & 3 ) ;
pt_data->frontHighWork = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 14) & 3 ) ;
ui16_temp = pkg.getUint16Data( 6 );
pt_data->implOEMOpt2 = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 0) & 3 ) ;
pt_data->implOEMOpt1 = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 2) & 3 ) ;
pt_data->implRightForwardWork =IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 4) & 3 ) ;
pt_data->implLeftForwardWork = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 6) & 3 ) ;
// pt_data->dataMsgReq is treated separately
pt_data->implRightFacingWork = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 10) & 3 ) ;
pt_data->implLeftFacingWork = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 12) & 3 ) ;
pt_data->implRearWork = IsoAgLib::IsoActiveFlag_t( (ui16_temp >> 14) & 3 ) ;
if ( mb_cmdWait4Response )
sendMessage();
}
void TracAux_c::processMsg( const CanPkg_c& arc_data )
{
CanPkgExt_c pkg( arc_data, getMultitonInst() );
if( !pkg.isValid() || (pkg.getMonitorItemForSA() == NULL) )
return;
IsoName_c const& rcc_tempISOName = pkg.getISONameForSA();
unsigned int valveNumber = 15;
const int32_t ci32_now = pkg.time();
switch (pkg.isoPgn() /*& 0x3FFFF*/) // don't need to &, as this is the complete PGN anyway...
{
case AUX_VALVE_0_ESTIMATED_FLOW:
valveNumber--;
case AUX_VALVE_1_ESTIMATED_FLOW:
valveNumber--;
case AUX_VALVE_2_ESTIMATED_FLOW:
valveNumber--;
case AUX_VALVE_3_ESTIMATED_FLOW:
valveNumber--;
case AUX_VALVE_4_ESTIMATED_FLOW:
valveNumber--;
case AUX_VALVE_5_ESTIMATED_FLOW:
valveNumber--;
case AUX_VALVE_6_ESTIMATED_FLOW:
valveNumber--;
case AUX_VALVE_7_ESTIMATED_FLOW:
valveNumber--;
case AUX_VALVE_8_ESTIMATED_FLOW:
valveNumber--;
case AUX_VALVE_9_ESTIMATED_FLOW:
valveNumber--;
case AUX_VALVE_10_ESTIMATED_FLOW:
valveNumber--;
case AUX_VALVE_11_ESTIMATED_FLOW:
valveNumber--;
case AUX_VALVE_12_ESTIMATED_FLOW:
valveNumber--;
case AUX_VALVE_13_ESTIMATED_FLOW:
valveNumber--;
case AUX_VALVE_14_ESTIMATED_FLOW:
valveNumber--;
case AUX_VALVE_15_ESTIMATED_FLOW:
if ( checkParseReceived( rcc_tempISOName ) )
{ // sender is allowed to send
marr_valve[valveNumber].ui8_extendPortEstFlow = pkg.getUint8Data(0);
marr_valve[valveNumber].ui8_retractPortEstFlow = pkg.getUint8Data(1);
marr_valve[valveNumber].ui8_estFailSaveMode = ( (pkg.getUint8Data(2) >> 6) & 3 );
marr_valve[valveNumber].ui8_estValveState = ( pkg.getUint8Data(2) & 0xF );
marr_valve[valveNumber].ui8_estValveLimitStatus = ( pkg.getUint8Data(3) >> 5);
setSelectedDataSourceISOName (rcc_tempISOName);
setUpdateTime( ci32_now );
}
else
{ // there is a sender conflict
IsoAgLib::getILibErrInstance().registerNonFatal( IsoAgLib::iLibErr_c::TracMultipleSender, getMultitonInst() );
}
break;
case AUX_VALVE_0_MEASURED_FLOW:
valveNumber--;
case AUX_VALVE_1_MEASURED_FLOW:
valveNumber--;
case AUX_VALVE_2_MEASURED_FLOW:
valveNumber--;
case AUX_VALVE_3_MEASURED_FLOW:
valveNumber--;
case AUX_VALVE_4_MEASURED_FLOW:
valveNumber--;
case AUX_VALVE_5_MEASURED_FLOW:
valveNumber--;
case AUX_VALVE_6_MEASURED_FLOW:
valveNumber--;
case AUX_VALVE_7_MEASURED_FLOW:
valveNumber--;
case AUX_VALVE_8_MEASURED_FLOW:
valveNumber--;
case AUX_VALVE_9_MEASURED_FLOW:
valveNumber--;
case AUX_VALVE_10_MEASURED_FLOW:
valveNumber--;
case AUX_VALVE_11_MEASURED_FLOW:
valveNumber--;
case AUX_VALVE_12_MEASURED_FLOW:
valveNumber--;
case AUX_VALVE_13_MEASURED_FLOW:
valveNumber--;
case AUX_VALVE_14_MEASURED_FLOW:
valveNumber--;
case AUX_VALVE_15_MEASURED_FLOW:
if ( checkParseReceived( rcc_tempISOName ) )
{ // sender is allowed to send
marr_valve[valveNumber].ui8_extendPortMeasuredFlow = pkg.getUint8Data(0);
marr_valve[valveNumber].ui8_retractPortMeasuredFlow = pkg.getUint8Data(1);
marr_valve[valveNumber].ui16_extendPortPressure = ( static_cast<uint16_t>(pkg.getUint8Data(2)) +
( static_cast<uint16_t>(pkg.getUint8Data(3)) << 8 ) );
marr_valve[valveNumber].ui16_retractPortPressure = ( static_cast<uint16_t>(pkg.getUint8Data(4)) +
( static_cast<uint16_t>(pkg.getUint8Data(5)) << 8 ) );
marr_valve[valveNumber].ui8_returnPortPressure = pkg.getUint8Data(6);
marr_valve[valveNumber].ui8_measuredValveLimitStatus = ( pkg.getUint8Data(7) >> 5 );
setSelectedDataSourceISOName (rcc_tempISOName);
setUpdateTime( ci32_now );
}
else
{ // there is a sender conflict
