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Different components of the AGL layers are under different licenses (a mix
of MIT and GPLv2). See LICENSE.GPL-2.0-only and LICENSE.MIT for further
details of the individual licenses.

All metadata (e.g. .bb, .bbappend, .bbclass, .inc, templates/* and similar)
is MIT licensed unless otherwise stated.
Source code included in tree for individual recipes (e.g. patches) are under
the LICENSE stated in the associated recipe (.bb file) unless otherwise stated.

License information for any other files (scripts) is either explicitly stated
or defaults to GPL version 2 only.

Individual files can contain the following style tags instead of the full
license text to identify their license:

    SPDX-License-Identifier: GPL-2.0-only
    SPDX-License-Identifier: MIT

This enables machine processing of license information based on the SPDX
License Identifiers that are here available: http://spdx.org/licenses/
/*
 * Copyright (C) 2015, 2016 "IoT.bzh"
 * Author "Romain Forlot" <romain.forlot@iot.bzh>
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *	 http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include "can-message.hpp"

#include <cstring>

#include "../binding/low-can-hat.hpp"

///
/// @brief Class constructor
///
/// Constructor about can_message_t class.
///
can_message_t::can_message_t()
	: maxdlen_{0},
	 id_{0},
	 length_{0},
	 format_{can_message_format_t::INVALID},
	 rtr_flag_{false},
	 flags_{0},
	 timestamp_{0},
	 sub_id_{-1}
{}

can_message_t::can_message_t(uint8_t maxdlen,
	uint32_t id,
	uint8_t length,
	can_message_format_t format,
	bool rtr_flag,
	uint8_t flags,
	std::vector<uint8_t>& data,
	uint64_t timestamp)
	:  maxdlen_{maxdlen},
	id_{id},
	length_{length},
	format_{format},
	rtr_flag_{rtr_flag},
	flags_{flags},
	data_{data},
	timestamp_{timestamp},
	sub_id_{-1}
{}

///
/// @brief Retrieve id_ member value.
///
/// @return id_ class member
///
uint32_t can_message_t::get_id() const
{
	return id_;
}

int can_message_t::get_sub_id() const
{
	return sub_id_;
}

///
/// @brief Retrieve RTR flag member.
///
/// @return rtr_flags_ class member
///
bool can_message_t::get_rtr_flag_() const
{
	return rtr_flag_;
}

///
/// @brief Retrieve format_ member value.
///
/// @return format_ class member. Default to INVALID.
///
can_message_format_t can_message_t::get_format() const
{
	if (format_ != can_message_format_t::STANDARD || format_ != can_message_format_t::EXTENDED)
		return can_message_format_t::INVALID;
	return format_;
}

///
/// @brief Retrieve flags_ member value.
///
/// @return flags_ class member
///
uint8_t can_message_t::get_flags() const
{
	return flags_;
}

///
/// @brief Retrieve data_ member value.
///
/// @return pointer to the first element
///  of class member data_
///
const uint8_t* can_message_t::get_data() const
{
	return data_.data();
}

///
/// @brief Retrieve data_ member whole vector
///
/// @return the vector as is
///
const std::vector<uint8_t> can_message_t::get_data_vector() const
{
	return data_;
}

///
/// @brief Retrieve length_ member value.
///
/// @return length_ class member
///
uint8_t can_message_t::get_length() const
{
	return length_;
}

void can_message_t::set_sub_id(int sub_id)
{
	sub_id_ = sub_id;
}

uint64_t can_message_t::get_timestamp() const
{
	return timestamp_;
}

void can_message_t::set_timestamp(uint64_t timestamp)
{
	timestamp_ = timestamp;
}

/// @brief Control whether the object is correctly initialized
///  to be sent over the CAN bus
///
/// @return True if object correctly initialized and false if not.
bool can_message_t::is_correct_to_send()
{
	if (id_ != 0 && length_ != 0 && format_ != can_message_format_t::INVALID)
	{
		int i;
		for(i=0;i<CAN_MESSAGE_SIZE;i++)
			if(data_[i] != 0)
				return true;
	}
	return false;
}

/// @brief Set format_ member value.
///
/// Preferred way to initialize these members by using
/// convert_from_canfd_frame method.
///
/// @param[in] new_format - class member
void can_message_t::set_format(const can_message_format_t new_format)
{
	if(new_format == can_message_format_t::STANDARD || new_format == can_message_format_t::EXTENDED || new_format == can_message_format_t::INVALID)
		format_ = new_format;
	else
		AFB_ERROR("Can set format, wrong format chosen");
}

/// @brief Take a canfd_frame struct to initialize class members
///
/// This is the preferred way to initialize class members.
///
/// @param[in] frame - canfd_frame to convert coming from a read of CAN socket
/// @param[in] nbytes - bytes read from socket read operation.
///
/// @return A can_message_t object fully initialized with canfd_frame values.
can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp)
{
	uint8_t maxdlen = 0, length = 0, flags = 0;
	uint32_t id;
	can_message_format_t format;
	bool rtr_flag;
	std::vector<uint8_t> data;

	switch(nbytes)
	{
		case CANFD_MTU:
			AFB_DEBUG("Got an CAN FD frame");
			maxdlen = CANFD_MAX_DLEN;
			break;
		case CAN_MTU:
			AFB_DEBUG("Got a legacy CAN frame");
			maxdlen = CAN_MAX_DLEN;
			break;
		default:
			AFB_ERROR("unsupported CAN frame");
			break;
	}

	if (frame.can_id & CAN_ERR_FLAG)
	{
		format = can_message_format_t::INVALID;
		id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
	}
	else if (frame.can_id & CAN_EFF_FLAG)
	{
		format = can_message_format_t::EXTENDED;
		id = frame.can_id & CAN_EFF_MASK;
	}
	else
	{
		format = can_message_format_t::STANDARD;
		id = frame.can_id & CAN_SFF_MASK;
	}

	/* Overwrite length_ if RTR flags is detected.
	 * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
	if (frame.can_id & CAN_RTR_FLAG)
	{
		rtr_flag = true;
		if(frame.len && frame.len <= CAN_MAX_DLC)
		{
			if(rtr_flag)
				length = frame.len& 0xF;
			else
			{
				length = (frame.len > maxdlen) ? maxdlen : frame.len;
			}
		}
	}
	else
	{
		length = (frame.len > maxdlen) ? maxdlen : frame.len;

		/* Flags field only present for CAN FD frames*/
		if(maxdlen == CANFD_MAX_DLEN)
				flags = frame.flags & 0xF;

		if (data.capacity() < maxdlen)
			data.reserve(maxdlen);
				int i;

			data.clear();
			/* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/
			for(i=0;i<maxdlen;i++)
			{
				data.push_back(frame.data[i]);
			};

		AFB_DEBUG("Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
								id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
	}

	return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp);
}

/// @brief Take a can_frame struct to initialize class members
///
/// This is the preferred way to initialize class members.
///
/// @param[in] frame - can_frame to convert coming from a read of CAN socket
/// @param[in] nbytes - bytes read from socket read operation.
///
/// @return A can_message_t object fully initialized with can_frame values.
can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, size_t nbytes, uint64_t timestamp)
{
	uint8_t maxdlen = 0, length = 0, flags = 0;
	uint32_t id;
	can_message_format_t format;
	bool rtr_flag;
	std::vector<uint8_t> data;

	if(nbytes <= CAN_MTU)
	{
			AFB_DEBUG("Got a legacy CAN frame");
			maxdlen = CAN_MAX_DLEN;
	}
	else
	{
			AFB_ERROR("unsupported CAN frame");
	}

	if (frame.can_id & CAN_ERR_FLAG)
	{
		format = can_message_format_t::INVALID;
		id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
	}
	else if (frame.can_id & CAN_EFF_FLAG)
	{
		format = can_message_format_t::EXTENDED;
		id = frame.can_id & CAN_EFF_MASK;
	}
	else
	{
		format = can_message_format_t::STANDARD;
		id = frame.can_id & CAN_SFF_MASK;
	}

	/* Overwrite length_ if RTR flags is detected.
	 * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
	if (frame.can_id & CAN_RTR_FLAG)
	{
		rtr_flag = true;
		if(frame.can_dlc && frame.can_dlc <= CAN_MAX_DLC)
		{
			if(rtr_flag)
				length = frame.can_dlc& 0xF;
			else
			{
				length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc;
			}
		}
	}
	else
	{
		length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc;

		if (data.capacity() < maxdlen)
			data.reserve(maxdlen);
				int i;

			data.clear();
			/* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/
			for(i=0;i<maxdlen;i++)
			{
				data.push_back(frame.data[i]);
			};

//		AFB_DEBUG("Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
//								id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
	}

	return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp);
}

/// @brief Take all initialized class's members and build an
/// canfd_frame struct that can be use to send a CAN message over
/// the bus.
///
/// @return canfd_frame struct built from class members.
struct canfd_frame can_message_t::convert_to_canfd_frame()
{
	canfd_frame frame;

	if(is_correct_to_send())
	{
		frame.can_id = get_id();
		frame.len = get_length();
		::memcpy(frame.data, get_data(), length_);
	}
	else
		AFB_ERROR("can_message_t not correctly initialized to be sent");

	return frame;
}

/// @brief Take all initialized class's members and build an
/// can_frame struct that can be use to send a CAN message over
/// the bus.
///
/// @return can_frame struct built from class members.
struct can_frame can_message_t::convert_to_can_frame()
{
	can_frame frame;

	if(is_correct_to_send())
	{
		frame.can_id = get_id();
		frame.can_dlc = get_length();
		::memcpy(frame.data, get_data(), length_);
	}
	else
		AFB_ERROR("can_message_t not correctly initialized to be sent");

	return frame;
}