Improve reading and now process CanMessage class

instead of raw canfd_frame.

Change-Id: I53f48f94e0e526b93908c21794110b2fd83190cb
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

5 files changed, 217 insertions, 99 deletions

diff --git a/can-utils.cpp b/can-utils.cpp
new file mode 100644
index 00000000..1e215ba5
--- /dev/null
+++ b/can-utils.cpp
@@ -0,0 +1,175 @@
+/*
+ * 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.
+ */
+
+#pragma once
+
+/********************************************************************************
+*
+*		CanBus method implementation
+*
+*********************************************************************************/
+
+int CanBus_c::open()
+{
+	const int canfd_on = 1;
+	struct ifreq ifr;
+	struct timeval timeout = {1, 0};
+
+	DEBUG(interface, "open_can_dev: CAN Handler socket : %d", socket);
+	if (socket >= 0)
+		close(socket);
+
+	socket = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+	if (socket < 0)
+	{
+		ERROR(interface, "open_can_dev: socket could not be created");
+	}
+	else
+	{
+		/* Set timeout for read */
+		setsockopt(socket, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
+		/* try to switch the socket into CAN_FD mode */
+		if (setsockopt(socket, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
+		{
+			NOTICE(interface, "open_can_dev: Can not switch into CAN Extended frame format.");
+			is_fdmode_on = false;
+		} else {
+			is_fdmode_on = true;
+		}
+
+		/* Attempts to open a socket to CAN bus */
+		strcpy(ifr.ifr_name, device);
+		if(ioctl(socket, SIOCGIFINDEX, &ifr) < 0)
+			ERROR(interface, "open_can_dev: ioctl failed");
+		else
+		{
+			txAddress.can_family = AF_CAN;
+			txAddress.can_ifindex = ifr.ifr_ifindex;
+
+			/* And bind it to txAddress */
+			if (bind(socket, (struct sockaddr *)&txAddress, sizeof(txAddress)) < 0)
+			{
+				ERROR(interface, "open_can_dev: bind failed");
+			}
+			else
+			{
+				fcntl(socket, F_SETFL, O_NONBLOCK);
+				return 0;
+			}
+		}
+		close(socket);
+		socket = -1;
+	}
+	return -1;
+}
+
+int CanBus_c::close()
+{
+	close(socket);
+	socket = -1;
+}
+
+void CanBus_c::start_threads()
+{
+    std::queue <canfd_frame> canfd_frame_queue;
+    std::queue <openxc_can_message_type> can_message_queue;
+
+    th_reading = std::thread(can_reader, interface, socket, canfd_frame_queue);
+    th_decoding = std::thread(can_decoder, interface, canfd_frame_queue, can_message_queue);
+    th_pushing = std::thread(can_event_push, interface, can_message_queue);
+}
+
+/********************************************************************************
+*
+*		CanMessage method implementation
+*
+*********************************************************************************/
+
+uint32_t CanMessage_c::get_id()
+{
+    return id;
+}
+
+int CanMessage_c::get_format()
+{
+    return format;
+}
+
+uint8_t CanMessage_c::get_data()
+{
+    return data;
+}
+uint8_t CanMessage_c::get_lenght()
+{
+    return lenght;
+}
+
+void CanMessage_c::set_id(uint32_t new_id)
+{
+    switch(format):
+        case SIMPLE:
+            id = new_id & CAN_SFF_MASK;
+        case EXTENDED:
+            id = new_id & CAN_EFF_MASK;
+        default:
+            ERROR(interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
+}
+
+void CanMessage_c::set_format(CanMessageFormat new_format)
+{
+    if(new_format == SIMPLE || new_format == EXTENDED)
+        format = new_format;
+    else
+        ERROR(interface, "ERROR: Can set format, wrong format chosen");
+}
+
+void CanMessage_c::set_data(uint8_t new_data)
+{
+    data = new_data;
+}
+
+void CanMessage_c::set_lenght(uint8_t new_length)
+{
+    lenght = new_lenght;
+}
+
+void CanMessage_c::convert_canfd_frame_to_CanMessage(canfd_frame *frame)
+{
+    
+	lenght = (canfd_frame->len > maxdlen) ? maxdlen : canfd_frame->len;
+
+	switch (canfd_frame->can_id): 
+        case (canfd_frame->can_id & CAN_ERR_FLAG):
+		    id = canfd_frame->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+            break;
+        case (canfd_frame->can_id & CAN_EFF_FLAG):
+		    id = canfd_frame->can_id & CAN_EFF_MASK;
+    		format = EXTENDED;
+        default:
+		    format = STANDARD;
+		    id = canfd_frame->can_id & CAN_SFF_MASK;
+
+	if (sizeof(canfd_frame->data) <= sizeof(data))
+	{
+		for (i = 0; i < lenght; i++)
+			can_message->data.bytes[i] = canfd_frame->data[i];
+		return 0;
+	} else if (sizeof(canfd_frame->data) >= CAN_MAX_DLEN)
+	{
+		ERROR(interface, "parse_can_frame: can_frame data too long to be stored into openxc_CanMessage data field");
+    }
+}
\ No newline at end of file
diff --git a/can-utils.h b/can-utils.h
index 20e37fc3..d2020a53 100644
--- a/can-utils.h
+++ b/can-utils.h
@@ -1,4 +1,3 @@
-
 /*
  * Copyright (C) 2015, 2016 "IoT.bzh"
  * Author "Romain Forlot" <romain.forlot@iot.bzh>
@@ -84,7 +83,7 @@ typedef uint64_t (*SignalEncoder)(struct CanSignal* signal,
         openxc_DynamicField* value, bool* send);
 
 /* CanBus represent a can device definition gotten from configuraiton file */
-class CanBus {
+class CanBus_c {
 	private:
 		/* Got from conf file */
 		std::string deviceName;
@@ -109,11 +108,11 @@ class CanBus {
  * STANDARD - standard 11-bit CAN arbitration ID.
  * EXTENDED - an extended frame, with a 29-bit arbitration ID.
  */
-enum CanMessageFormat {
+enum CanMessageFormat_c {
     STANDARD,
     EXTENDED,
 };
-typedef enum CanMessageFormat CanMessageFormat;
+typedef enum CanMessageFormat_c CanMessageFormat;
 
 /* Public: A state encoded (SED) signal's mapping from numerical values to
  * OpenXC state names.
@@ -126,11 +125,11 @@ struct CanSignalState {
 };
 typedef struct CanSignalState CanSignalState;
  */
- class CanSignalState {
+ class CanSignalState_c {
      private:
         const int value;
         const char *name;
- }
+};
 
 /* Public: A CAN signal to decode from the bus and output over USB.
  *
@@ -188,8 +187,9 @@ struct CanSignal {
 typedef struct CanSignal CanSignal;
  */
 
-class CanSignal {
+class CanSignal_c {
     private:
+        CanMessageDefinition *message;
         const char *generic_name;
         uint8_t bit_position;
         uint8_t bit_size;
@@ -197,7 +197,7 @@ class CanSignal {
         float offset;
         float min_value;
         float max_value;
-        FrequencyClock clock;
+        FrequencyClock_t clock;
         bool send_same;
         bool force_send_changed;
         const CanSignalState *states;
@@ -207,7 +207,7 @@ class CanSignal {
         SignalEncoder encoder;
         bool received;
         float last_value;
-}
+};
 
 /* Public: The definition of a CAN message. This includes a lot of metadata, so
  * to save memory this struct should not be used for storing incoming and
@@ -234,15 +234,15 @@ struct CanMessageDefinition {
 };
 typedef struct CanMessageDefinition CanMessageDefinition;
  */
- class CanMessageDefinition {
+ class CanMessageDefinition_c {
     private:
         CanBus *bus
         uint32_t id;
         CanMessageFormat format;
-        FrequencyClock clock;
+        FrequencyClock_t clock;
         bool force_send_changed;
         uint8_t last_value[CAN_MESSAGE_SIZE];
- }
+ };
 
 /* A compact representation of a single CAN message, meant to be used in in/out
  * buffers.
@@ -259,15 +259,28 @@ struct CanMessage {
 };
 typedef struct CanMessage CanMessage;
 */
-class CanMessage {
+class CanMessage_c {
     private:
         uint32_t id;
         CanMessageFormat format;
         uint8_t data[CAN_MESSAGE_SIZE];
         uint8_t length;
-}
 
-QUEUE_DECLARE(CanMessage, 8);
+    public:
+        uint32_t get_id();
+        int get_format();
+        uint8_t get_data();
+        uint8_t get_lenght();
+
+        void set_id(uint32_t id);
+        void set_format(CanMessageFormat format);
+        void set_data(uint8_t data);
+        void set_lenght(uint8_t length);
+
+        void convert_canfd_frame_to_CanMessage(canfd_frame frame);
+};
+
+QUEUE_DECLARE(CanMessage_c, 8);
 
 /* Private: An entry in the list of acceptance filters for each CanBus.
  *
@@ -316,7 +329,7 @@ typedef struct {
     unsigned short commandCount;
 } CanMessageSet;
  */
-class CanMessageSet {
+class CanMessageSet_c {
     private:
         uint8_t index;
         const char * name;
@@ -324,7 +337,7 @@ class CanMessageSet {
         unsigned short messageCount;
         unsigned short signalCount;
         unsigned short commandCount;
-}
+};
 
 /* Public: The type signature for a function to handle a custom OpenXC command.
  *
@@ -361,11 +374,11 @@ typedef struct {
 } CanCommand;
  */
 
-class CanCommand {
+class CanCommand_c {
     private:
         const char* genericName;
         CommandHandler handler;
-}
+};
 
 /* Pre initialize actions made before CAN bus initialization
  *
diff --git a/can_reader.cpp b/can_reader.cpp
index f5e2833e..35ea79e6 100644
--- a/can_reader.cpp
+++ b/can_reader.cpp
@@ -21,10 +21,11 @@
 
 #include <afb/afb-binding.h>
 
-void can_reader(afb_binding_interface *interface, int socket, std::queue <canfd_frame>& canfd_frame_queue)
+void can_reader(afb_binding_interface *interface, int socket, std::queue <CanMessage_t>& can_message_q)
 {
     ssize_t nbytes;
 	int maxdlen;
+    CanMessage_t can_message;
 
 	/* Test that socket is really opened */
 	if ( socket < 0)
@@ -39,7 +40,7 @@ void can_reader(afb_binding_interface *interface, int socket, std::queue <canfd_
 
         switch(nbytes)
         {
-            case CANFD_MTU:s
+            case CANFD_MTU:
                 DEBUG(interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
                 maxdlen = CANFD_MAX_DLEN;
                 break;
@@ -64,6 +65,10 @@ void can_reader(afb_binding_interface *interface, int socket, std::queue <canfd_
             return -4;
         }
         */
-        canfd_frame_queue.push(canfd_frame);
+
+        can_message.convert_canfd_frame_to_CanMessage(canfd_frame);
+
+
+        can_message_q.push(can_message);
     }
 }
diff --git a/low-can-binding.cpp b/low-can-binding.cpp
index 53517a60..b523e9d1 100644
--- a/low-can-binding.cpp
+++ b/low-can-binding.cpp
@@ -48,81 +48,6 @@
  */
 static const struct afb_binding_interface *interface;
 
-/********************************************************************************
-*
-*		CanBus method implementation
-*
-*********************************************************************************/
-
-int CanBus::open()
-{
-	const int canfd_on = 1;
-	struct ifreq ifr;
-	struct timeval timeout = {1, 0};
-
-	DEBUG(interface, "open_can_dev: CAN Handler socket : %d", socket);
-	if (socket >= 0)
-		close(socket);
-
-	socket = socket(PF_CAN, SOCK_RAW, CAN_RAW);
-	if (socket < 0)
-	{
-		ERROR(interface, "open_can_dev: socket could not be created");
-	}
-	else
-	{
-		/* Set timeout for read */
-		setsockopt(socket, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
-		/* try to switch the socket into CAN_FD mode */
-		if (setsockopt(socket, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
-		{
-			NOTICE(interface, "open_can_dev: Can not switch into CAN Extended frame format.");
-			is_fdmode_on = false;
-		} else {
-			is_fdmode_on = true;
-		}
-
-		/* Attempts to open a socket to CAN bus */
-		strcpy(ifr.ifr_name, device);
-		if(ioctl(socket, SIOCGIFINDEX, &ifr) < 0)
-			ERROR(interface, "open_can_dev: ioctl failed");
-		else
-		{
-			txAddress.can_family = AF_CAN;
-			txAddress.can_ifindex = ifr.ifr_ifindex;
-
-			/* And bind it to txAddress */
-			if (bind(socket, (struct sockaddr *)&txAddress, sizeof(txAddress)) < 0)
-			{
-				ERROR(interface, "open_can_dev: bind failed");
-			}
-			else
-			{
-				fcntl(socket, F_SETFL, O_NONBLOCK);
-				return 0;
-			}
-		}
-		close(socket);
-		socket = -1;
-	}
-	return -1;
-}
-
-int CanBus::close()
-{
-	close(socket);
-	socket = -1;
-}
-
-void CanBus::start_threads()
-{
-    std::queue <canfd_frame> canfd_frame_queue;
-    std::queue <openxc_can_message_type> can_message_queue;
-
-    th_reading = std::thread(can_reader, interface, socket, canfd_frame_queue);
-    th_decoding = std::thread(can_decoder, interface, canfd_frame_queue, can_message_queue);
-    th_pushing = std::thread(can_event_push, interface, can_message_queue);
-}
 
 /********************************************************************************
 *
@@ -305,7 +230,7 @@ int afbBindingV1ServiceInit(struct afb_service service)
 	/* Open JSON conf file */
 
 	/* Open CAN socket */
-	CanBus CanBus_handler;
+	CanBus_t CanBus_handler;
 	CanBus_handler.open();
     CanBus_handler.start_threads();
 
diff --git a/timer.h b/timer.h
index 7c39364d..fa329ebd 100644
--- a/timer.h
+++ b/timer.h
@@ -32,7 +32,7 @@ typedef struct {
 } FrequencyClock;
  */
 
-class FrequencyClock {
+class FrequencyClock_c {
 	private:
 		float frequency;
 		unsigned long last_tick;