TracLight_c::SendMessage_e TracLight_c::sendLightingData()
{ // there is no need to check for address claim in tractor mode because this is already done in the timeEvent
// function of base class BaseCommon_c
CanPkgExt_c pkg;
// precondition checks for sending as implement
if (!mb_cmdWait4Response) return MessageNotSent;
if( ( ! getIdentItem() ) || ( ! getIdentItem()->isClaimedAddress() ) ) {
return MessageNotSent;
}
pkg.setIsoPgn(LIGHTING_DATA_PGN);
//reset flag because msg will now be send
mb_cmdWait4Response = false;
pkg.setIsoPri(6);
uint16_t ui16_temp = 0;
ui16_temp =
(mt_cmd.implOEMOpt2 << 0) +
(mt_cmd.implOEMOpt1 << 2) +
(mt_cmd.implRightForwardWork << 4) +
(mt_cmd.implLeftForwardWork << 6) +
(0 << 8) + //reserved field in lighting data
(mt_cmd.implRightFacingWork << 10) +
(mt_cmd.implLeftFacingWork << 12) +
(mt_cmd.implRearWork << 14);
pkg.setUint16Data(6, ui16_temp);
return helpSendMessage( pkg );
}
bool ProprietaryMessageB_c::sendWithPrio( uint8_t ps, unsigned prio, const IsoName_c& a_overwrite_remote ) {
isoaglib_assert( prio <= 7 );
isoaglib_assert(m_ident);
// do not allow overwrite to a different target if m_remote is specified
isoaglib_assert(!m_remote.isSpecified() || a_overwrite_remote.isUnspecified() || (a_overwrite_remote == m_remote));
const uint32_t pgn = ( uint32_t( m_dp ) << 16) | PROPRIETARY_B_PGN | ps;
if (getDataSend().getLen() <= 8)
{
CanPkgExt_c pkg;
pkg.setIsoPri( static_cast<uint8_t>( prio ) );
pkg.setIsoPgn( pgn );
pkg.setMonitorItemForSA( m_ident->getIsoItem() );
pkg.setDataFromString ( getDataSend().getDataStream(), static_cast<uint8_t>( getDataSend().getLen() ) );
getIsoBusInstance( m_ident->getMultitonInst() ) << pkg;
return true;
}
else
{ /** multi-packet */
/** variable should be evaluated */
// const bool cb_couldStartMultiSend =
// we could catch the information if the sending succeeded, but what to do with it anyway?
return getMultiSendInstance( m_ident->getMultitonInst() ).sendIsoTarget(
m_ident->isoName(),
a_overwrite_remote.isSpecified() ? a_overwrite_remote : m_remote,
getDataSend().getDataStream(0),
getDataSend().getLen(),
pgn,
this );
}
}
bool ProprietaryMessageB_c::send( uint8_t ps ) {
isoaglib_assert(m_ident);
const uint32_t pgn = ( uint32_t( m_dp ) << 16) | PROPRIETARY_B_PGN | ps;
if (getDataSend().getLen() <= 8)
{
CanPkgExt_c pkg;
pkg.setIsoPri( 6 );
pkg.setIsoPgn( pgn );
pkg.setMonitorItemForSA( m_ident->getIsoItem() );
pkg.setDataFromString ( getDataSend().getDataStream(), static_cast<uint8_t>( getDataSend().getLen() ) );
getIsoBusInstance( m_ident->getMultitonInst() ) << pkg;
return true;
}
else
{ /** multi-packet */
/** variable should be evaluated */
// const bool cb_couldStartMultiSend =
// we could catch the information if the sending succeeded, but what to do with it anyway?
return getMultiSendInstance( m_ident->getMultitonInst() ).sendIsoTarget(
m_ident->isoName(),
m_remote,
getDataSend().getDataStream(0),
getDataSend().getLen(),
pgn,
this );
}
}
void
TractorHitch_c::setValues( const CanPkgExt_c& pkg )
{
mui8_position = pkg.getUint8Data( 0 );
mui8_linkForce = pkg.getUint8Data( 2 );
mui16_draft = static_cast<uint16_t>(pkg.getUint8Data( 3 ) ) + (static_cast<uint16_t>(pkg.getUint8Data( 4 ) ) << 8);
mui8_exitReasonCode = pkg.getUint8Data( 5 ) & 0x3F;
mt_inWorkIndication = IsoAgLib::IsoHitchInWorkIndicationFlag_t( pkg.getUint8Data( 1 ) >> 6 );
mt_posLimitStatus = IsoAgLib::IsoLimitFlag_t( ( pkg.getUint8Data( 1 ) >> 3 ) & 0x07 );
}
void FsManager_c::FsServerManager_c::processFsToGlobal( const CanPkgExt_c& pkg ) {
for (STL_NAMESPACE::vector<FsServerInstance_c *>::iterator it = m_serverInstances.begin(); it != m_serverInstances.end(); ++it) {
if( pkg.getMonitorItemForSA() == &(*it)->getIsoItem() ) {
(*it)->processFsToGlobal( pkg );
}
}
}
TracLight_c::SendMessage_e TracLight_c::helpSendMessage( CanPkgExt_c& pkg )
{
// there is no need to check for address claim in tractor mode because this is already done in the timeEvent
// function of base class BaseCommon_c
pkg.setMonitorItemForSA( getIdentItem()->getIsoItem() );
pkg.setLen(8);
uint16_t ui16_temp = 0;
ui16_temp =
(mt_cmd.daytimeRunning << 0) +
(mt_cmd.alternateHead << 2) +
(mt_cmd.lowBeamHead << 4) +
(mt_cmd.highBeamHead << 6) +
(mt_cmd.frontFog << 8) +
(mt_cmd.beacon << 10) +
(mt_cmd.rightTurn << 12) +
(mt_cmd.leftTurn << 14);
pkg.setUint16Data(0, ui16_temp);
ui16_temp = 0;
ui16_temp =
(mt_cmd.backUpLightAlarmHorn << 0) +
(mt_cmd.centerStop << 2) +
(mt_cmd.rightStop << 4) +
(mt_cmd.leftStop << 6) +
(mt_cmd.implClearance << 8) +
(mt_cmd.tracClearance << 10) +
(mt_cmd.implMarker << 12) +
(mt_cmd.tracMarker << 14);
pkg.setUint16Data(2, ui16_temp);
ui16_temp = 0;
ui16_temp =
(mt_cmd.rearFog << 0) +
(mt_cmd.undersideWork << 2) +
(mt_cmd.rearLowWork << 4) +
(mt_cmd.rearHighWork << 6) +
(mt_cmd.sideLowWork << 8) +
(mt_cmd.sideHighWork << 10) +
(mt_cmd.frontLowWork << 12) +
(mt_cmd.frontHighWork << 14);
pkg.setUint16Data(4, ui16_temp);
// CanIo_c::operator<< retreives the information with the help of CanPkg_c::getData
// then it sends the data
getIsoBusInstance4Comm() << pkg;
return MessageSent;
}
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 a PGN request */
bool BaseCommon_c::sendPgnRequest(uint32_t ui32_requestedPGN)
{
if( ( ! getIdentItem() ) || ( ! getIdentItem()->isClaimedAddress() ) )
return false;
IsoItem_c *dest = getSelectedDataSourceISONameConst().isSpecified()
? getIsoMonitorInstance( getIdentItem()->getMultitonInst() ).item( getSelectedDataSourceISONameConst(), true )
: NULL; // --> ask to global
CanPkgExt_c pkg;
pkg.setIsoPri(6);
pkg.setIsoPgn(REQUEST_PGN_MSG_PGN);
pkg.setMonitorItemForSA( getIdentItem()->getIsoItem() );
pkg.setMonitorItemForDA( dest );
pkg.setLen( 3 );
pkg.setUint32Data( 0 , ui32_requestedPGN );
getIsoBusInstance( getIdentItem()->getMultitonInst() ) << pkg;
return true;
}
/** 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;
}