CAN FD implementation

Add a flag to CAN message definitions which set the message as using FD
protocol if true.

Use a new generated file with the new FD flag field on the message
definitions.

Change BCM socket "struct" using an union to store the CAN frames either
using the FD struct or the classic non FD struct. A BCM socket can only
one frame type once configured.

Use as much as possible the "struct canfd_frame" in the binding and only
make a difference before writing or reading the socket. From a memory
point of view both struct are identical and only the last member differ
and could hold more data with messages of 64 bytes long. So the
canfd_frame is compatible with the can_frame and can be differentiated
by a flag set in the can_id member.

Remove now unused code processing can_frame.

Keep the diagnostic manager using the classic CAN frame.

Set the maximum number of frames that a BCM socket can handle to 257.

Bug-AGL: SPEC-1980

Change-Id: Ifcc041281ea6745fc25cbd384743761f4446f489
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

4 files changed, 125 insertions, 71 deletions

diff --git a/low-can-binding/binding/application-generated.cpp b/low-can-binding/binding/application-generated.cpp
index 5a67d86e..1b0a3506 100644
--- a/low-can-binding/binding/application-generated.cpp
+++ b/low-can-binding/binding/application-generated.cpp
@@ -7,7 +7,13 @@ application_t::application_t()
 	, can_message_set_{
 		{std::make_shared<can_message_set_t>(can_message_set_t{0,"AGL Virtual Car",
 			{ // beginning can_message_definition_ vector
-				{std::make_shared<can_message_definition_t>(can_message_definition_t{"ls",0x30,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
+				{std::make_shared<can_message_definition_t>(can_message_definition_t{
+				 "ls",
+				 0x30,
+				 false,
+				 can_message_format_t::EXTENDED,
+				 frequency_clock_t(5.00000f),
+				 true,
 					{ // beginning can_signals vector
 						{std::make_shared<can_signal_t> (can_signal_t{
 							"hvac.fan.speed",
@@ -83,7 +89,13 @@ application_t::application_t()
 						})}
 					} // end can_signals vector
 				})} // end can_message_definition entry
-,				{std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x3D9,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
+,				{std::make_shared<can_message_definition_t>(can_message_definition_t{
+				 "hs",
+				 0x3D9,
+				 true,
+				 can_message_format_t::STANDARD,
+				 frequency_clock_t(5.00000f),
+				 true,
 					{ // beginning can_signals vector
 						{std::make_shared<can_signal_t> (can_signal_t{
 							"engine.speed",
@@ -141,7 +153,13 @@ application_t::application_t()
 						})}
 					} // end can_signals vector
 				})} // end can_message_definition entry
-,				{std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x3E9,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
+,				{std::make_shared<can_message_definition_t>(can_message_definition_t{
+				 "hs",
+				 0x3E9,
+				 false,
+				 can_message_format_t::EXTENDED,
+				 frequency_clock_t(5.00000f),
+				 true,
 					{ // beginning can_signals vector
 						{std::make_shared<can_signal_t> (can_signal_t{
 							"vehicle.average.speed",
@@ -163,7 +181,13 @@ application_t::application_t()
 						})}
 					} // end can_signals vector
 				})} // end can_message_definition entry
-,				{std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x4D1,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
+,				{std::make_shared<can_message_definition_t>(can_message_definition_t{
+				 "hs",
+				 0x4D1,
+				 false,
+				 can_message_format_t::STANDARD,
+				 frequency_clock_t(5.00000f),
+				 true,
 					{ // beginning can_signals vector
 						{std::make_shared<can_signal_t> (can_signal_t{
 							"engine.oil.temp",
@@ -203,7 +227,13 @@ application_t::application_t()
 						})}
 					} // end can_signals vector
 				})} // end can_message_definition entry
-,				{std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x620,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
+,				{std::make_shared<can_message_definition_t>(can_message_definition_t{
+				 "hs",
+				 0x620,
+				 false,
+				 can_message_format_t::STANDARD,
+				 frequency_clock_t(5.00000f),
+				 true,
 					{ // beginning can_signals vector
 						{std::make_shared<can_signal_t> (can_signal_t{
 							"doors.boot.open",
@@ -297,7 +327,13 @@ application_t::application_t()
 						})}
 					} // end can_signals vector
 				})} // end can_message_definition entry
-,				{std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x799,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
+,				{std::make_shared<can_message_definition_t>(can_message_definition_t{
+				 "hs",
+				 0x799,
+				 false,
+				 can_message_format_t::STANDARD,
+				 frequency_clock_t(5.00000f),
+				 true,
 					{ // beginning can_signals vector
 						{std::make_shared<can_signal_t> (can_signal_t{
 							"windows.front_left.open",
diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp
index 3cb61c6c..098f0715 100644
--- a/low-can-binding/binding/low-can-cb.cpp
+++ b/low-can-binding/binding/low-can-cb.cpp
@@ -407,7 +407,7 @@ void unsubscribe(afb_req_t request)
 	do_subscribe_unsubscribe(request, false);
 }
 
-static int send_frame(const std::string& bus_name, const struct can_frame& cf)
+static int send_frame(struct canfd_frame& cfd, const std::string& bus_name)
 {
 	if(bus_name.empty()) {
 		return -1;
@@ -418,57 +418,54 @@ static int send_frame(const std::string& bus_name, const struct can_frame& cf)
 	if( cd.count(bus_name) == 0)
 		{cd[bus_name] = std::make_shared<low_can_socket_t>(low_can_socket_t());}
 
-	return cd[bus_name]->tx_send(cf, bus_name);
+	return cd[bus_name]->tx_send(cfd, bus_name);
 }
 
 static void write_raw_frame(afb_req_t request, const std::string& bus_name, json_object *json_value)
 {
-	struct can_frame cf;
-	struct json_object *json_can_data = nullptr;
+	struct canfd_frame cfd;
+	struct json_object *can_data = nullptr;
 
-	::memset(&cf, 0, sizeof(cf));
+	::memset(&cfd, 0, sizeof(cfd));
 
-	if(! wrap_json_unpack(json_value, "{sF, sF, so !}",
-			      "can_id", &cf.can_id,
-			      "can_dlc", &cf.can_dlc,
-			      "can_data", &json_can_data))
+	if(wrap_json_unpack(json_value, "{si, si, so !}",
+			      "can_id", &cfd.can_id,
+			      "can_dlc", &cfd.len,
+			      "can_data", &can_data))
 	{
-		struct json_object *one_can_data;
-		size_t n = json_object_array_length(json_can_data);
+		afb_req_fail(request, "Invalid", "Frame object malformed");
+		return;
+	}
 
-		if(n <= 8 && n > 0)
-		{
-			for (int i = 0 ; i < n ; i++)
-			{
-				one_can_data = json_object_array_get_idx(json_can_data, i);
-				cf.data[i] = json_object_get_type(one_can_data) == json_type_int ? (uint8_t)json_object_get_int(one_can_data) : 0;
-			}
-		}
-		else
+	if(cfd.len <= 8 && cfd.len > 0)
+	{
+		for (int i = 0 ; i < cfd.len ; i++)
 		{
-			afb_req_fail(request, "Error", "Data array must hold 1 to 8 values.");
-			return;
+			struct json_object *one_can_data = json_object_array_get_idx(can_data, i);
+			cfd.data[i] = (json_object_is_type(one_can_data, json_type_int)) ?
+					(uint8_t)json_object_get_int(one_can_data) : 0;
 		}
-
-		if(! send_frame(application_t::instance().get_can_bus_manager().get_can_device_name(bus_name), cf))
-			afb_req_success(request, nullptr, "Message correctly sent");
-		else
-			afb_req_fail(request, "Error", "sending the message. See the log for more details.");
-
+	}
+	else
+	{
+		afb_req_fail(request, "Invalid", "Data array must hold 1 to 8 values.");
 		return;
 	}
 
-	afb_req_fail(request, "Error", "Frame object malformed (must be \n \"frame\": {\"can_id\": int, \"can_dlc\": int, \"can_data\": [ int, int , int, int ,int , int ,int ,int]}");
+	if(! send_frame(cfd, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name)))
+		afb_req_success(request, nullptr, "Message correctly sent");
+	else
+		afb_req_fail(request, "Error", "sending the message. See the log for more details.");
 }
 
 static void write_signal(afb_req_t request, const std::string& name, json_object *json_value)
 {
-	struct can_frame cf;
+	struct canfd_frame cfd;
 	struct utils::signals_found sf;
 	signal_encoder encoder = nullptr;
 	bool send = true;
 
-	::memset(&cf, 0, sizeof(cf));
+	::memset(&cfd, 0, sizeof(cfd));
 
 	openxc_DynamicField search_key = build_DynamicField(name);
 	sf = utils::signals_manager_t::instance().find_signals(search_key);
@@ -491,8 +488,8 @@ static void write_signal(afb_req_t request, const std::string& name, json_object
 			encoder(*sig, dynafield_value, &send) :
 			encoder_t::encode_DynamicField(*sig, dynafield_value, &send);
 
-	if(! send_frame(sig->get_message()->get_bus_device_name(), encoder_t::build_frame(sig, value)) &&
-		send)
+	cfd = encoder_t::build_frame(sig, value);
+	if(! send_frame(cfd, sig->get_message()->get_bus_device_name()) && send)
 		afb_req_success(request, nullptr, "Message correctly sent");
 	else
 		afb_req_fail(request, "Error", "Sending the message. See the log for more details.");
diff --git a/low-can-binding/binding/low-can-socket.cpp b/low-can-binding/binding/low-can-socket.cpp
index db9b164b..cd827b6b 100644
--- a/low-can-binding/binding/low-can-socket.cpp
+++ b/low-can-binding/binding/low-can-socket.cpp
@@ -185,11 +185,11 @@ int low_can_socket_t::open_socket(const std::string& bus_name)
 
 /// @brief Builds a BCM message head but doesn't set can_frame.
 ///
-/// @returns a simple_bcm_msg with the msg_head parts set and can_frame
+/// @returns a bcm_msg with the msg_head parts set and can_frame
 /// zeroed.
-struct utils::simple_bcm_msg low_can_socket_t::make_bcm_head(uint32_t opcode, uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const
+struct utils::bcm_msg low_can_socket_t::make_bcm_head(uint32_t opcode, uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const
 {
-	struct utils::simple_bcm_msg bcm_msg;
+	struct utils::bcm_msg bcm_msg;
 	::memset(&bcm_msg, 0, sizeof(bcm_msg));
 
 	bcm_msg.msg_head.opcode  = opcode;
@@ -203,13 +203,23 @@ struct utils::simple_bcm_msg low_can_socket_t::make_bcm_head(uint32_t opcode, ui
 	return bcm_msg;
 }
 
-/// @brief Take an existing simple_bcm_msg struct and add a can_frame.
+/// @brief Take an existing bcm_msg struct and add a can_frame.
 /// Currently only 1 uniq can_frame can be added, it's not possible to build
 /// a multiplexed message with several can_frame.
-void low_can_socket_t::add_bcm_frame(const struct can_frame& cf, struct utils::simple_bcm_msg& bcm_msg) const
+void low_can_socket_t::add_one_bcm_frame(struct canfd_frame& cfd, struct utils::bcm_msg& bcm_msg) const
 {
+	struct can_frame cf;
+
+	if (bcm_msg.msg_head.flags & CAN_FD_FRAME)
+		bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cfd;
+	else
+	{
+		cf.can_id = cfd.can_id;
+		cf.can_dlc = cfd.len;
+		::memcpy(&cf.data, cfd.data, cfd.len);
+		bcm_msg.frames[bcm_msg.msg_head.nframes] = cf;
+	}
 	bcm_msg.msg_head.nframes++;
-	bcm_msg.frames = cf;
 }
 
 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a CAN signal
@@ -218,26 +228,37 @@ void low_can_socket_t::add_bcm_frame(const struct can_frame& cf, struct utils::s
 /// @return 0 if ok else -1
 int low_can_socket_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
 {
+	uint32_t flags;
+	float val;
+	struct timeval freq, timeout = {0, 0};
+	struct canfd_frame cfd;
 	can_signal_= sig;
 
-	struct can_frame cfd;
-	memset(&cfd, 0, sizeof(cfd));
-
-	float val = (float)(1 << can_signal_->get_bit_size()) - 1;
-	bitfield_encode_float(val,
-							can_signal_->get_bit_position(),
-							can_signal_->get_bit_size(),
-							can_signal_->get_factor(),
-							can_signal_->get_offset(),
-							cfd.data,
-							CAN_MAX_DLEN);
+	if (sig->get_message()->is_fd())
+	{
+		flags = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME;
+		cfd.len = CANFD_MAX_DLEN;
+	}
+	else
+	{
+		flags = SETTIMER|RX_NO_AUTOTIMER;
+		cfd.len = CAN_MAX_DLEN;
+	}
+	val = (float)(1 << can_signal_->get_bit_size()) - 1;
+	if(! bitfield_encode_float(val,
+				   can_signal_->get_bit_position(),
+				   can_signal_->get_bit_size(),
+				   1,
+				   can_signal_->get_offset(),
+				   cfd.data,
+				   cfd.len))
+		return -1;
 
-	struct timeval freq, timeout = {0, 0};
 	frequency_clock_t f = event_filter_.frequency == 0 ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
 	freq = f.get_timeval_from_period();
 
-	utils::simple_bcm_msg bcm_msg = make_bcm_head(RX_SETUP, can_signal_->get_message()->get_id(), SETTIMER|RX_NO_AUTOTIMER, timeout, freq);
-	add_bcm_frame(cfd, bcm_msg);
+	utils::bcm_msg bcm_msg = make_bcm_head(RX_SETUP, can_signal_->get_message()->get_id(), flags, timeout, freq);
+	add_one_bcm_frame(cfd, bcm_msg);
 
 	return create_rx_filter(bcm_msg);
 }
@@ -254,19 +275,19 @@ int low_can_socket_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig
 	//struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
 	struct timeval timeout = {0,0};
 
-	utils::simple_bcm_msg bcm_msg =  make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
+	utils::bcm_msg bcm_msg =  make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
 	return create_rx_filter(bcm_msg);
 }
 
 /// @brief Create a RX_SETUP receive job used by the BCM socket directly from
-/// a simple_bcm_msg. The method should not be used directly but rather through the
+/// a bcm_msg. The method should not be used directly but rather through the
 /// two previous method with can_signal_t or diagnostic_message_t object.
 ///
 /// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
 /// to the 8 classics OBD2 functional response ID
 ///
 /// @return 0 if ok else -1
-int low_can_socket_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg)
+int low_can_socket_t::create_rx_filter(utils::bcm_msg& bcm_msg)
 {
 	// Make sure that socket is opened.
 	if(open_socket() < 0)
@@ -299,12 +320,10 @@ int low_can_socket_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg)
 /// send a message
 ///
 /// @return 0 if ok else -1
-int low_can_socket_t::tx_send(const struct can_frame& cf, const std::string& bus_name)
+int low_can_socket_t::tx_send(struct canfd_frame& cfd, const std::string& bus_name)
 {
-	can_signal_ = nullptr;
-
-	utils::simple_bcm_msg bcm_msg =  make_bcm_head(TX_SEND);
-	add_bcm_frame(cf, bcm_msg);
+	utils::bcm_msg bcm_msg =  make_bcm_head(TX_SEND, cfd.can_id);
+	add_one_bcm_frame(cfd, bcm_msg);
 
 	if(open_socket(bus_name) < 0)
 		{return -1;}
diff --git a/low-can-binding/binding/low-can-socket.hpp b/low-can-binding/binding/low-can-socket.hpp
index 48ed47f9..d46f1f8c 100644
--- a/low-can-binding/binding/low-can-socket.hpp
+++ b/low-can-binding/binding/low-can-socket.hpp
@@ -25,6 +25,8 @@
 #include "../diagnostic/diagnostic-message.hpp"
 #include "../utils/socketcan-bcm.hpp"
 
+#define OBDII_MAX_SIMULTANEOUS_RESPONSES 8
+
 /// @brief Filtering values. Theses values have to be tested in
 /// can_bus_t::apply_filter method.
 struct event_filter_t
@@ -81,14 +83,14 @@ public:
 	void set_min(float min);
 	void set_max(float max);
 
-	struct utils::simple_bcm_msg make_bcm_head(uint32_t opcode, uint32_t can_id = 0, uint32_t flags = 0, const struct timeval& timeout = {0,0}, const struct timeval& frequency_thinning = {0,0}) const;
-	void add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const;
+	struct utils::bcm_msg make_bcm_head(uint32_t opcode, uint32_t can_id = 0, uint32_t flags = 0, const struct timeval& timeout = {0,0}, const struct timeval& frequency_thinning = {0,0}) const;
+	void add_one_bcm_frame(struct canfd_frame& cfd, struct utils::bcm_msg& bcm_msg) const;
 
 	int open_socket(const std::string& bus_name = "");
 
 	int create_rx_filter(std::shared_ptr<can_signal_t> sig);
 	int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig);
-	int create_rx_filter(utils::simple_bcm_msg& bcm_msg);
+	int create_rx_filter(utils::bcm_msg& bcm_msg);
 
-	int tx_send(const struct can_frame& cf, const std::string& bus_name);
+	int tx_send(struct canfd_frame& cfd, const std::string& bus_name);
 };