Precommit (#1)

* first commit * cleanup
2026-07-02 05:35:11 +00:00 · 2025-11-04 13:28:06 +01:00
parent dba45dc636
commit 6ed4b1534e
898 changed files with 256340 additions and 0 deletions
--- a/sdv_services/can_communication_sim/can_com_sim.h
+++ b/sdv_services/can_communication_sim/can_com_sim.h
@@ -0,0 +1,116 @@
+#ifndef CAN_COM_SIMULATION_H
+#define CAN_COM_SIMULATION_H
+
+#include <iostream>
+#include <queue>
+#include <set>
+#include <thread>
+#include <mutex>
+
+#include <interfaces/can.h>
+#include <support/component_impl.h>
+#include "../../global/ascformat/ascreader.h"
+#include "../../global/ascformat/ascwriter.h"
+
+/**
+* @brief Component to establish Socket CAN communication between VAPI and external application
+*/
+class CCANSimulation : public sdv::CSdvObject, public sdv::IObjectControl, public sdv::can::IRegisterReceiver,
+    public sdv::can::ISend, sdv::can::IInformation
+{
+public:
+    /**
+     * @brief Constructor
+     */
+    CCANSimulation();
+
+    /**
+     * @brief Destructor
+     */
+    virtual ~CCANSimulation() override;
+
+    // Interface map
+    BEGIN_SDV_INTERFACE_MAP()
+        SDV_INTERFACE_ENTRY(sdv::IObjectControl)
+        SDV_INTERFACE_ENTRY(sdv::can::IRegisterReceiver)
+        SDV_INTERFACE_ENTRY(sdv::can::ISend)
+        SDV_INTERFACE_ENTRY(sdv::can::IInformation)
+    END_SDV_INTERFACE_MAP()
+
+    DECLARE_OBJECT_CLASS_TYPE(sdv::EObjectType::Device)
+    DECLARE_OBJECT_CLASS_NAME("CAN_Com_Sim")
+    DECLARE_DEFAULT_OBJECT_NAME("CAN_Communication_Object")
+    DECLARE_OBJECT_SINGLETON()
+
+    /**
+     * @brief Initialize the object. Overload of sdv::IObjectControl::Initialize.
+     * @param[in] ssObjectConfig Optional configuration string.
+     */
+    virtual void Initialize(const sdv::u8string& ssObjectConfig) override;
+
+    /**
+     * @brief Get the current status of the object. Overload of sdv::IObjectControl::GetStatus.
+     * @return Return the current status of the object.
+     */
+    virtual sdv::EObjectStatus GetStatus() const override;
+
+    /**
+     * @brief Set the component operation mode. Overload of sdv::IObjectControl::SetOperationMode.
+     * @param[in] eMode The operation mode, the component should run in.
+     */
+    void SetOperationMode(sdv::EOperationMode eMode) override;
+
+    /**
+     * @brief Shutdown called before the object is destroyed. Overload of sdv::IObjectControl::Shutdown.
+     */
+    virtual void Shutdown() override;
+
+    /**
+     * @brief Register a CAN message receiver. Overload of sdv::can::IRegisterReceiver::RegisterReceiver.
+     * @param[in] pReceiver Pointer to the receiver interface.
+     */
+    virtual void RegisterReceiver(/*in*/ sdv::can::IReceive* pReceiver) override;
+
+    /**
+     * @brief Unregister a previously registered CAN message receiver. Overload of
+     * sdv::can::IRegisterReceiver::UnregisterReceiver.
+     * @param[in] pReceiver Pointer to the receiver interface.
+     */
+    virtual void UnregisterReceiver(/*in*/ sdv::can::IReceive* pReceiver) override;
+
+    /**
+     * @brief Send a CAN message. Overload of sdv::can::ISend::Send.
+     * @param[in] sMsg Message that is to be sent. The source node information is ignored. The target node determines over
+     * what interface the message will be sent.
+     * @param[in] uiIfcIndex Interface index to use for sending.
+     */
+    virtual void Send(/*in*/ const sdv::can::SMessage& sMsg, /*in*/ uint32_t uiIfcIndex) override;
+
+    /**
+     * @brief Get a list of interface names. Overload of sdv::can::IInformation::GetInterfaces.
+     * @return Sequence containing the names of the interfaces.
+     */
+    virtual sdv::sequence<sdv::u8string> GetInterfaces() const override;
+
+private:
+    /**
+     * @brief Playback function for ASC data playback.
+     */
+    void PlaybackFunc(const asc::SCanMessage& rsMsg);
+
+    std::atomic<sdv::EObjectStatus>             m_eStatus = sdv::EObjectStatus::initialization_pending;  ///< Object status
+    std::thread                                 m_threadReceive;            ///< Receive thread.
+    mutable std::mutex                          m_mtxReceivers;             ///< Protect the receiver set.
+    std::set<sdv::can::IReceive*>               m_setReceivers;             ///< Set with receiver interfaces.
+    mutable std::mutex                          m_mtxInterfaces;            ///< Protect the nodes set.
+    std::map<int, size_t>                       m_mapIfc2Idx;               ///< Map with interface to index.
+    std::vector<std::pair<int, std::string>>    m_vecInterfaces;            ///< Vector with interfaces.
+    std::filesystem::path                       m_pathSource;               ///< Path to the source ASC file.
+    std::filesystem::path                       m_pathTarget;               ///< Path to the target ASC file.
+    asc::CAscReader                             m_reader;                   ///< Reader for ASC file playback.
+    asc::CAscWriter                             m_writer;                   ///< Writer for ASC file recording.
+};
+
+DEFINE_SDV_OBJECT(CCANSimulation)
+
+#endif // ! defined CAN_COM_SIMULATION_H